JPWO2008117538A1 - Transfer support device and transfer support device with multi-support mechanism - Google Patents

Transfer support device and transfer support device with multi-support mechanism Download PDF

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Publication number
JPWO2008117538A1
JPWO2008117538A1 JP2009506213A JP2009506213A JPWO2008117538A1 JP WO2008117538 A1 JPWO2008117538 A1 JP WO2008117538A1 JP 2009506213 A JP2009506213 A JP 2009506213A JP 2009506213 A JP2009506213 A JP 2009506213A JP WO2008117538 A1 JPWO2008117538 A1 JP WO2008117538A1
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JP
Japan
Prior art keywords
support
transfer
means
landing
landing detection
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2009506213A
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Japanese (ja)
Inventor
河上 日出生
日出生 河上
洋平 久米
洋平 久米
中村 徹
徹 中村
総一郎 藤岡
総一郎 藤岡
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パナソニック株式会社
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Priority to JP2007083718 priority Critical
Priority to JP2007083718 priority
Priority to JP2007232328 priority
Priority to JP2007232328 priority
Application filed by パナソニック株式会社 filed Critical パナソニック株式会社
Priority to PCT/JP2008/000737 priority patent/WO2008117538A1/en
Publication of JPWO2008117538A1 publication Critical patent/JPWO2008117538A1/en
Application status is Granted legal-status Critical

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104Devices carried or supported by
    • A61G7/1046Mobile bases, e.g. having wheels
    • A61G7/1048Mobile bases, e.g. having wheels having auxiliary drive means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013Lifting of patients by
    • A61G7/1017Pivoting arms, e.g. crane type mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013Lifting of patients by
    • A61G7/1019Vertical extending columns or mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1025Lateral movement of patients, e.g. horizontal transfer
    • A61G7/1032Endless belts
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1025Lateral movement of patients, e.g. horizontal transfer
    • A61G7/1036Lateral movement of patients, e.g. horizontal transfer facilitating loading and unloading of the patient, e.g. using flaps or additional tilting
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104Devices carried or supported by
    • A61G7/1046Mobile bases, e.g. having wheels
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00General characteristics of devices
    • A61G2203/30General characteristics of devices characterised by sensor means
    • A61G2203/42General characteristics of devices characterised by sensor means for inclination

Abstract

Provided is a transfer support device that enables a caregiver to smoothly crawl up and transfer a cared person from the mounting tool even when the mounting tool is not horizontal. A transfer support device 1 includes a support 16 that crawls a human body placed on a mounting tool, joints 13 and 15 for changing the posture of the support 16, and a lower surface of the support 16. Based on the outputs of the plurality of landing detection sensors 32 that detect landing on the placement surface, the leg portion 8 that raises and lowers the support 16, and the plurality of landing detection sensors 32, the rotation of the joint portions 13 and 15. A control unit 110 that controls a moving operation or a lifting / lowering operation of the leg 8, and the control unit 110 operates at least one of the joints 13, 15 and the leg 8 to control the plurality of landing detection sensors 32. Based on the output, at least one of a parallel state and a copying state between the placement surface of the placement tool and the lower surface of the support 16 is formed and maintained.

Description

  The present invention relates to a transfer support device that supports a transfer operation performed by a person in a hospital or a home, and in particular, a person who receives care such as an elderly person, a sick person, or an injured person (hereinafter referred to as a “care recipient”), The present invention relates to a transfer support device and a transfer support device with a multi-support mechanism for scooping up and transferring a cared person placed on a mounting device such as a wheelchair, a bed, or a stretcher.

  In hospitals and homes, family members and specialists have traditionally provided care mainly for people who have difficulty moving or moving their bodies or who are lying in bed. In this case, the burden on the work of the caregiver is large, and there are various problems including aspects such as securing human resources and costs. This situation is becoming an important social issue as society ages.

  On the other hand, conventionally, examples of a transfer nursing device for nursing the transportation of a patient lying on a bed and a nursing care robot for bathing have been proposed (see, for example, Patent Document 1 and Patent Document 2).

  In Patent Document 1, three transfer plates that respectively support the upper body, waist, and legs of a patient are provided so as to be movable back and forth along the upper surface of the bed, and a caregiver operates the three plates to cover all parts of the patient. The function of moving from the bed without difficulty or returning to the bed is disclosed. Moreover, in the assistance apparatus of this patent document 1, by arrange | positioning a force detector and a limit switch, the position and operating force of a plate are detected and care control is performed.

In Patent Document 2, in the example of a nursing care robot for bathing, two support plates (for the upper body and for the lower body) are provided with water level detection sensors, respectively, and bathing is performed by controlling the bather's posture and bathing depth. .
JP-A-8-168505 Japanese Patent Publication No. 6-9588

  However, all of the conventional transfer assist devices are devices that detect a horizontal surface such as a fixed bed or a water surface of a bath, and a function to control corresponding to a detection surface having a complicated shape including an inclined surface is assumed. Not. On the other hand, in recent years, beds with a reclining function that can adjust the inclination of the backrest have become widespread as beds for care recipients used in hospitals and homes, and conventional transfer assist devices are related to beds that have a reclining function. It could not be used for transfer work of care recipients.

  In particular, when the placement surface of the bed on which the cared person is placed is not level with the backrest raised, the support member supporting the cared person is aligned with the inclination of the upper surface of the bed. The caregiver had to be scooped up with the tool in contact with the bed. For this reason, it has been difficult for the caregiver to adjust the position and inclination angle of the support according to the inclination of the placement surface by manual operation.

  The present invention has been made in view of such a problem, and even if the inclination of the placement surface of the placement tool on which the care recipient is placed is not horizontal, the care recipient can smoothly receive care. It is an object of the present invention to provide a transfer support device and a transfer support device with a multi-supporting mechanism that enable the user to scoop up and transfer the device from the mounting tool.

  In order to achieve the object as described above, the transfer assist device of the present invention is inserted between a placement surface of a placement tool and a human body placed on the placement surface, and a support tool that scoops the human body. One or more rotating means for changing and / or adjusting the posture of the support, and a plurality of landing detection means for detecting that the lower surface of the support has landed on the upper surface of the mounting surface And at least one of a parallel state and a copying state between the mounting surface and the support member based on the output of the lifting and lowering means for moving the support member and the plurality of landing detection means. And a control means for controlling the rotating means or the elevating means so as to be maintained.

It is a perspective view which shows the condition at the time of use of the transfer assistance apparatus in Embodiment 1 of this invention. It is a side view which shows the usage example of the mounting tool which mounts a care receiver which the transfer assistance apparatus makes into the object of work. It is a perspective view which shows the structure of the principal part of the transfer assistance apparatus. It is a side view which shows the structure of the support tool of the transfer assistance apparatus. It is the elements on larger scale which show the structure of the landing detection means of the transfer assistance apparatus. It is a perspective view which shows the structure of the alerting | reporting means in the transfer assistance apparatus. It is a block diagram which shows the electrical structure of the transfer assistance apparatus. It is a figure for demonstrating the control system of the transfer assistance apparatus. It is a flowchart for demonstrating operation | movement of the transfer assistance apparatus. It is a top view which shows the other example of arrangement | positioning of the landing detection means of the transfer assistance apparatus. It is a figure which shows the example of the wheelchair used with the transfer assistance apparatus in Embodiment 2 of this invention. It is a figure which shows the structural example of the support tool of the transfer assistance apparatus. It is a figure for demonstrating operation | movement when using the support of the transfer assistance apparatus. It is a figure which shows the other example of a support in the time of use of the transfer assistance apparatus. It is a perspective view which shows the basic composition of the transfer assistance apparatus in Embodiment 3 of this invention. It is a figure for demonstrating the application example regarding the structure of the support of the transfer assistance apparatus in Embodiment 4 of this invention. It is a figure for demonstrating the other application example regarding the structure of the support of the transfer assistance apparatus in Embodiment 5 of this invention. It is a figure for demonstrating the other application example regarding the structure of the support of the transfer assistance apparatus. It is a side view for demonstrating the further another application example regarding the structure of the support of the transfer assistance apparatus in Embodiment 6 of this invention. It is a front view which shows the structural example of the wheel of the transfer assistance apparatus in Embodiment 7 of this invention. It is explanatory drawing for demonstrating the structural example of the display part of the transfer assistance apparatus in Embodiment 8 of this invention.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
First, with reference to FIG. 1 and FIG. 2, the outline | summary in case the caregiver 3 cares for the care receiver 2 using the transfer assistance apparatus 1 of Embodiment 1 of this invention is demonstrated. FIG. 1 is a perspective view showing a situation when the transfer assisting device 1 according to the first embodiment of the present invention is used, and FIG. 2 is a diagram illustrating the object to be worked on by the transfer assisting device 1 according to the first embodiment of the present invention. It is a side view which shows the usage example of the mounting tool which mounts the caregiver.

  The transfer support device 1 inserts a support 16 between the care receiver 2 placed on the placement tool and the placement tool, and scoops up the care receiver 2 on the scooping surface of the support 16. It is used as a main purpose to transfer to another mounting tool.

  FIG. 1 illustrates a case where two transfer assist devices 1 are operated from a mounting tool (for example, a bed) on which a cared person 2 is placed, and the cared person 2 is scooped up and held by two support tools 16. Indicates the state of Usually, the mounting tool is often used in a horizontal state, but in the first embodiment, the mounting tool can be adapted to various usage states of the mounting table.

  In the example shown in FIG. 2A, the cared person 2 is placed on a placing tool 51 whose inclination angle with respect to the horizontal plane H is an angle θa.

  In this case, the caregiver 3 operates the transfer assist device 1 to bring the support 16 closer to the mounting tool 51, and the parallelism between the mounting surface of the mounting tool 51 and the lower surface of the support 16 is set. Detect and adjust the inclination angle of the support 16. Next, the care giver 3 inserts the support 16 between the care receiver 2 and the placement surface of the placement tool 51, and scoops up the care receiver 2 on the scooping surface of the support 16. Thereby, the care giver 3 can transfer the care receiver 2 to another mounting tool.

  In the example shown in FIG. 2B, the mounting tool 51 has two mounting portions 51a and 51b connected to each other, and the mounting surfaces 51a and 51b have different inclinations. Here, the angle of inclination of the mounting portion 51a with respect to the horizontal plane H is an angle θb, and the angle of inclination of the mounting portion 51b with respect to the horizontal plane H is an angle θc.

  In this case, the caregiver 3 operates the two transfer assist devices 1 to bring the respective supporters 16 closer to the mounting tool 51 (mounting parts 51a and 51b), and then the mounting parts 51a and 51b. After detecting the parallelism between the mounting surface and the lower surface of the support 16 and adjusting the lower surface of the support 16 parallel to the inclination of the mounting surface, the care receiver 2 and the mounting device 51 (mounting) Each support 16 is inserted between the mounting portions 51a and 51b). Next, the caregiver 3 scoops up the cared person 2 using each of the support tools 16 by operating the two transfer assisting devices 1. Thereby, the care giver 3 can transfer the care receiver 2 in a state in which the care receiver 2 is lying on another placing tool.

  Next, the structure of the transfer assistance device 1 will be described with reference to FIG. FIG. 3 is a perspective view showing the structure of the main part of the transfer assist device 1 according to Embodiment 1 of the present invention. In FIG. 3, three axes (X axis, Y axis, and Z axis) orthogonal to each other are horizontal planes in which the XY plane is parallel to the ground, and the transfer assist device 1 has the front face in the X axis direction. Yes. That is, the X-axis direction is the insertion direction of the support 16. The Z axis is the vertical direction.

  The transfer support device 1 includes a support 16, a joint part 13, a joint part 15, an arm part 12, a support part 4, a control part 110, and an input part 14.

  The support 16 is inserted between the care receiver 2 placed on the placement tool 51 and the placement surface of the placement tool 51 and disposed for the purpose of scolding the care receiver 2. The support 16 includes a belt portion 23 for changing the position of supporting the care receiver 2 that has been scooped up on the support 16, and the lower surface of the support 16 on the mounting surface (or upper surface) of the mounting tool 51. There is provided a landing detection sensor 32 as a landing detection means (or a landing detection unit) for detecting the landing.

  The belt portion 23 is driven to rotate by a belt driving portion 25 (FIG. 4) described later. A plurality of landing detection sensors 32 are provided in the vicinity of both ends of the lower surface on the front side in the insertion direction of the support 16. The landing detection sensor 32 in the vicinity of one end in the width direction is referred to as an landing detection sensor 32a, and the landing detection sensor 32 in the vicinity of the other end is referred to as an landing detection sensor 32b. The landing detection sensor 32a and the landing detection sensor 32b are separated from each other in the Y-axis direction. The landing detection sensor 32a has two sensors spaced apart from each other in the X-axis direction. Moreover, the landing detection sensor 32b has two sensors spaced apart from each other in the X-axis direction. The landing detection sensors 32a and 32b may be provided at both ends of the lower end surface of the support 6, or may be provided at the lower end portion of the side surface.

  The joint portion 13 is provided as first rotating means (or first rotating portion) for performing at least one of change and adjustment of the posture of the support 16. The joint portion 13 rotates around the X axis with respect to the support portion 4. Similarly, the joint portion 15 is provided as second rotating means (or second rotating portion) for performing at least one of change and adjustment of the posture of the support 16, and is provided with respect to the support portion 4. Rotate around the Y axis. The joint portion 15 is coupled to the support portion 4, and the joint portion 13 is coupled to the joint portion 15. The rotational axis of the joint portion 13 is in a positional relationship orthogonal to the rotational axis of the joint portion 15. A known bearing mechanism that can rotate in one axial direction can be used for each of the joint portions 13 and 15 and is driven by a joint drive portion 114 using a motor or the like as a power source.

  The arm part 12 connects the joint part 13 and the joint part 15. In addition, the arm part 12 may be provided with an expansion / contraction mechanism, and the position of the support 16 may be changed by the expansion / contraction operation of the arm part 12.

  The support unit 4 includes a holding unit 6 as support device insertion means (or support device insertion unit) for inserting the support device 16 between the care receiver 2 and the mounting surface of the mounting device 51, and a supporting device. And a leg portion 8 as an elevating means (or elevating portion) for elevating and lowering 16, and supports the support 16 through the joint portion 13, the joint portion 15 and the arm portion 12.

  A plurality of wheels 5 are disposed in the holding unit 6. The wheels 5 are driven by a position driving unit 116 using a motor or the like as a power source, and the transfer assisting device 1 is independently moved in the front-rear and left-right directions, and is supported by the holding unit 6 so as to be rotatable around the Z axis. . In addition, as a support insertion means, you may use the structure which uses the wheel 5 and the arm part 12 together, or only the arm part 12. FIG. When only the arm part 12 is used, the position of the support 16 is changed by the expansion and contraction of the arm part 12.

  The leg part 8 connects the holding part 6 and the joint part 15 and moves the support 16 up and down by a slide mechanism. The slide mechanism is driven by a lift drive unit 118 using a motor or the like as a power source. In addition, as another raising / lowering means, it can be set as the structure which raises / lowers the support tool 16 by combining a some link and making the angle of the connected part changeable.

  The control unit 110 controls the joint driving unit 114, the position driving unit 116, the lifting / lowering driving unit 118, and the belt driving unit 25.

  The input unit 14 is for inputting instruction information for operating the transfer assist device 1. This instruction information is transmitted to the control unit 110, and the control unit 110 controls each of the drive units 114, 116, 118, and 25 described above. The input unit 14 may be a known input device such as a joystick, a lever, a push switch, or a touch panel that can perform an operation input such as switching of a moving direction, a moving speed, and an operation instruction. The caregiver 3 can steer the transfer support device 1 by operating the input unit 14. Note that the input unit 14 may further include a notification unit or a display unit for assisting the input operation. Configuration examples of the notification unit and the display unit will be described later.

  Next, a detailed configuration of the support 16 will be described with reference to FIGS. 4 and 5. FIG. 4 is a side view showing the structure of the support 16 of the transfer assist device 1 according to the first embodiment of the present invention, and FIG. 5 shows the landing detection means of the transfer assist device 1 according to the first embodiment of the present invention. It is the elements on larger scale which show the structure of these.

  As shown in FIG. 4, the support 16 includes a frame body 21, a belt guide roller 22, a belt portion 23, a belt driving portion 25, a fixed roller 26, a movable roller 26 a, and a landing detection sensor 32 (32 a and 32 b). ing.

  The belt portion 23 is held by a belt guide roller 22 supported by the frame body 21 and is driven by a belt driving portion 25 using a motor as a power source. Further, the belt portion 23 is exposed on the upper surface of the cover 20, and the cared person 2 can be moved while being placed on the belt portion 23. The support surface of the cared person 3 configured by the upper surface of the belt portion 23 has a length comparable to the width of the person's back in the insertion direction.

  A plurality of fixed rollers 26 are provided on both side surfaces of the frame body 21 so as to be orthogonal to the direction in which the support 16 is inserted, and a plurality of the fixed rollers 26 are provided so as to rotate up to the lower end surface 33. Due to the rotation of the fixed roller 26, the load when the support 16 is inserted between the care receiver 2 and the placement surface of the placement tool 51 is reduced.

  The landing detection sensors 32 (32a, 32b) are provided in the frame body 21 and are provided in the vicinity of the front side in the insertion direction of the support 16 and in the vicinity of both end portions of the lower surface. By using the landing detection sensor 32 (32a, 32b), the posture relationship between the mounting surface of the mounting tool 51 and the supporting tool 16 is detected prior to the insertion of the supporting tool 16, and the inclination of the supporting tool 16 is determined. Can be adjusted.

  FIG. 5 is a partially enlarged view in which the A part (two places) in FIG. 4 is enlarged, and shows the configuration of the landing detection sensor 32 (32a, 32b) provided in the A part. As shown in FIG. 5, the movable roller 26 a is a roller for detecting the posture of the support 16, and the movable roller 26 a is lowered on both sides of the frame body 21 so as to be orthogonal to the insertion direction of the support 16. It is held in a state of slightly projecting downward from the end face 33. The movable roller 26a rotates around the roller shaft core 26b. The roller shaft core 26 b is pivotally supported by the elongated hole portion 31 in a state where the roller shaft core 26 b is pressed downward by the leaf springs 28 at both side surface portions of the frame body 21. The long hole portion 31 provided on one of both side surface portions of the frame body 21 is defined as a long hole portion 31a, and the long hole portion 31 provided on the other side is defined as a long hole portion 31b. The movable roller 26a is a movable guide member that can move in the normal direction of the lower surface of the supporter 16. The roller 26a is pivotally supported by the long hole portions 31 (31a, 31b). The leaf spring 28 allows the movable roller 26a to move in a direction perpendicular to the lower end surface of the frame body 21 along the elongated holes 31a and 31b. As a result, the position of the movable roller 26 a is changed by the contact pressure between the support 16 and the placement tool 51.

  Note that the moving direction of the movable roller 26a only needs to have a component in the normal direction relative to the lower surface of the support 16. Further, the movable guide member is not limited to the movable roller 26a, and a sled guide member (for example, a low friction resin material) having a small friction coefficient, a movable frame, or the like can be used. This movable frame will be described later. The landing detection sensor 32 (32a, 32b) is provided in the vicinity of the roller shaft core 26b.

  The transfer support device 1 further includes a control unit 110. When detecting the displacement of the roller shaft core 26b by the landing detection sensor 32 (32a, 32b), the control unit 110 adjusts the inclination of the support 16 so that the output of the landing detection sensor 32 falls within the set range. The mutual positional relationship such as the degree of parallelism of the support 16 with respect to the placement surface of the placement tool 51 is controlled. That is, the control unit 110 has a function of forming and maintaining at least one of a parallel state and a copying state between the support 16 and the placement surface of the placement tool 51. The determination of the landing state by the control unit 110 is determined as the landing state when the output of the landing detection sensor 32 is within the set range.

  In the first embodiment, the landing detection sensors 32 are provided at four places. However, the present invention is not limited to this, and as a design matter, the landing detection sensors 32 are arranged according to the structure and function of the support 16. Various forms can be taken with respect to the number of arrangements and the positions of arrangement. In addition to the leaf spring 28, an elastic body such as rubber or spring can be used as a member that presses the movable roller 26a. Further, the long hole portion 31 (31a, 31b) is formed not only in the Z-axis direction but also in a shape including a component in the X-axis direction, for example, the long hole portion 31 (31a, 31b) is formed in a long shape in an oblique direction. The same effect can be obtained. In addition, the movable roller 26 a can be disposed as an independent structure on both side portions of the frame body 21. Further, as the landing detection sensor 32, a reed switch, a proximity switch, a light reflection type photo reflector, or the like can be used in addition to the micro switch shown in FIG. A similar effect can also be achieved by a method in which the strain sensor 27 is used as the landing detection sensor 32 and the strain amount of the leaf spring 28 deformed by the displacement of the movable roller 26a is detected by the strain sensor 27.

  Further, although the displacement of the movable roller 26a is detected, the contact pressure may be detected. For example, a pressure sensor such as a sheet-type pressure sensor that detects the contact pressure between the support 16 and the mounting tool 51 is provided at a portion that supports the fixed roller 26, and the mounting tool 51 is mounted on the lower surface of the support 16. Detect the contact pressure on the mounting surface. Thereby, based on the output value of the landing detection sensor 32, the control part 110 determines with a landing state, when the contact pressure with a mounting surface exists in the set pressure range. This set pressure may be set to the same level as the pressure received by the care receiver 2 on the placement surface of the placement tool 51. Thus, in the insertion site | part of the support tool 16, by making the mounting surface the same as the pressure range which the cared person 2 receives, the sinking amount of the cared person 2 with respect to the mounting surface, and the support device in the insertion site The amount of subsidence of 16 can be made substantially the same. Thereby, in the position which inserts the support tool 16, the level | step difference which arises from the difference in the amount of sinking is suppressed, and the mounting tool 51 and a cared person are made to contact | abut the front-end | tip part of the support tool 16 to the body of the cared person 2. The support 16 can be smoothly inserted between the two.

The set pressure may be a fixed value. For example, when the height L of the cared person 2 that can be handled by the transfer support device 1 according to the present embodiment is 150 cm to 180 cm, the 50th percentile value of the weight of a person of 165 cm, which is the median value, is about 57 kg. . In this case, since the pressure value P by this person is 0.035 kgf / cm 2 , this pressure value may be set as the set pressure, or a range having an allowable value of about 10% above and below is set as the set pressure. Also good.

  The set pressure may be changed by the subject. For example, when the cared person 2 is scolded with the supporter 16, the interval between the supporters 16 is adjusted according to the height of the cared person 2, so that the set pressure is changed according to this interval. Also good. For example, data relating the height L of the cared person 2 and the distance between the supporters 16 such as data corresponding to the distance between the supporters 16 when scolding the cared person 2 having a height of 165 cm, and the following formula are stored: Therefore, the set pressure P (L) is derived by the calculation according to the following equation based on the derived height L. That is, the pressure value P by a person with a height of 165 cm is corrected by the height, and the value after the correction is used as the set pressure P (L).

  Set pressure P (L) = P × L / 165

  The set pressure range may be a range of pressure that the placement surface receives by the care receiver 2 at the insertion site of the support 16. In this case, the range of the contact pressure to be set is that the placement surface receives from the cared person 2 at a site where the supporter 16 is inserted, such as the head, shoulder, foot, or back part of the cared person 2. The range of pressure, measured in advance by experiment. The storage unit (not shown) of the transfer support device 1 stores a database of measurement values of each part of the cared person 2 and the control unit 110 can access the database of the storage unit. It is possible. The control unit 110 acquires pressure information from the database and causes the supporter 16 to land on the placement surface based on the pressure information, so that the sinking amount of the care receiver 2 with respect to the placement surface and the support at the insertion site. The sinking amount of the tool 16 can be made substantially the same.

  In this case, the set pressure may be a fixed value or a variable value. In the case of a fixed value, for example, pressure values (50th percentile values, etc.) at the back, buttocks, and thighs of a person with a height of 165 cm are stored in a database, and this pressure value can be set as a set pressure. it can. On the other hand, in the case of a variable value, the data corresponding to the interval between the support members 16 is used, the pressure value at each part of a person with a height of 165 cm is corrected with the data and the height, and the setting at each part after the correction is performed. Pressure can be used.

  Next, the notification means provided in the support 16 will be described with reference to FIG. FIG. 6 is a perspective view showing the structure of the notification means in the transfer assist device 1 according to Embodiment 1 of the present invention.

  As shown in FIG. 6, a plurality of notification units 34 are provided in the vicinity of the landing detection sensors 32 as notification means for notifying the caregiver 3 of the states of the landing detection sensors 32. The notification unit 34 is provided at a position where it can be directly viewed from the caregiver 3, and is arranged so as not to come into contact with the cared person 2 when the cared person 2 is scooped up on the belt part 23 of the support 16. Yes. For example, the notification unit 34 is provided on both side portions of the frame body 21 and is provided for each landing detection sensor 32.

  As the notification unit 34, a light emitting diode, a liquid crystal panel, or the like is used, and the caregiver 3 is notified of the landing state using state changes such as lighting, blinking, and non-lighting. Thereby, the caregiver 3 can easily grasp the inclination of the supporter 16. Note that the notification means is not limited to a display means such as a light emitting diode, and can be notified by transmitting voice or vibration to the caregiver 3 using, for example, a voice generation device or a vibration device. In the sound generation device, a message for informing the landing state such as “the left side of the supporter has landed” may be generated. The vibration device is provided with a “vibration mode” that causes the hand of the caregiver 3 to feel different vibrations depending on the landing state, and “vibration mode” that varies depending on the landing state, similar to the sound generation device. By setting, a different message can be transmitted to the caregiver 3.

  Next, with reference to FIGS. 7 and 8, the electrical configuration of the transfer assist device 1 and the operation related to the control system will be described.

  FIG. 7 is a block diagram showing an electrical configuration of the transfer assist device 1 according to the first embodiment of the present invention, and FIG. 8 is a diagram for explaining a control system of the transfer assist device 1 according to the first embodiment of the present invention. is there.

  First, as illustrated in FIG. 7, the transfer assist device 1 includes an input unit 14 for inputting an operation command, a joint drive unit 114 that rotates the joint units 13 and 15, and a belt drive unit 25 that drives the belt unit 23. The elevating drive unit 118 that elevates and lowers the leg 8, the position drive unit 116 that drives the wheel 5, and the control unit 110 are provided. Furthermore, the transfer support device 1 includes, as input / output means, a plurality of landing detection sensors 32 for detecting the landing state of the support 16 and a notification unit 34 for notifying the caregiver 3 of the landing state. I have. For the joint driving unit 114, the belt driving unit 25, the elevation driving unit 118, and the position driving unit 116, driving means using a known motor or the like as a power source can be used.

  Next, operations related to the control system of the transfer assist device 1 will be described with reference to FIG. Here, the joint drive unit 114 and the lift drive unit 118 will be described in detail as an example.

  First, the operation of the control system of the joint drive unit 114 will be described. The control system of the joint drive unit 114 includes a minor control loop and an overall control loop. In the minor control loop, the turning motion of the joint portion 13 and the joint portion 15 is controlled with respect to each angle command value commanded based on the operation at the input unit 14, thereby controlling the inclination of the support 16. In the overall control loop, when the support 16 lands on the mounting tool 51 (FIG. 2), the angle command value is corrected according to the deviation in parallelism between the support 16 and the mounting surface of the mounting tool 51. .

  With such a configuration, the joint drive unit 114 performs angle control in the minor control loop included in the overall control loop, so that, for example, even when the operation command is interrupted from the input unit 14, the minor control loop is Since it works and is internally stable, it can be controlled to maintain the inclination of the support 16 when the operation command is interrupted.

  First, a minor control loop for controlling the rotation operation of the joint unit 13 around the X axis in the joint drive unit 114 will be described.

  As shown in FIG. 8, the joint drive unit 114 includes a drive motor 82a that rotates the joint unit 13 around the X axis, a rotation angle detection unit 87a that detects the rotation angle of the joint unit 13 around the X axis, A difference detection unit 41a that detects a difference value between the rotation angle amount of the joint unit 13 detected by the angle detection unit 87a and the angle command value θe, and a drive motor 82a based on the difference value output from the difference detection unit 41a. And a regulator 40 a that drives and controls the rotation angle of the joint portion 13.

  As the drive motor 82a, a known motor such as a DC motor, an AC motor, or a stepping motor can be used.

  As the rotation angle detector 87a, a known encoder can be used. For example, a rotary potentiometer or a rotary differential transformer can be used.

  The regulator 40a includes a drive circuit 83a that rotates the drive motor 82a in the forward or reverse direction based on the difference value output from the difference detection unit 41a.

  As the drive circuit 83a, a known drive circuit such as a bridge circuit can be used. Thereby, the regulator 40a can switch the polarity of the power supply connected to the drive motor 82a, and can rotate the drive motor 82a in the normal rotation or reverse direction. Furthermore, the regulator 40a has a differentiator (not shown) and stabilizes the control system of the minor control loop. Thereby, the joint drive part 114 can control the joint part 13 stably to the rotation angle by which the angle command was carried out.

  Further, the joint drive unit 114 is configured to form a difference detection unit 43a in order to form an overall control loop for automatic landing tracking when the lower surface of the support 16 is landed on the placement surface of the placement tool 51 (FIG. 2). And a stabilization compensator 42a and an adder 44a.

  The difference detector 43a detects a difference value between the output of the landing detection sensor 32a and the output of the landing detection sensor 32b provided on the lower surface of the supporter 16.

  The stabilization compensator 42a includes an integrator (not shown) that cumulatively adds the difference values output from the difference detector 43a, and stabilizes the control system of the overall control loop. As a result, the joint driving unit 114 forms the state where the lower surface of the support 16 is parallel to the placement surface of the placement tool 51 and the copying state based on the difference value detected by the difference detection unit 43a. In addition, the state can be stabilized and maintained.

  The adder 44a adds the angle information θd and the output of the stabilization compensator 42a to calculate the angle command value θe described above.

  As described above, the joint driving unit 114 controls the inclination of the support 16 in the Y-axis direction (around the X axis) according to the operation command θd from the input unit 14, and the lower surface of the support 16 is placed on the mounting tool. When landing on the mounting surface 51, the entire control loop is operated with respect to the operation command value θd, and the lower surface and the mounting surface of the supporting device 16 when the supporting device 16 has landed on the mounting device 51. The operation command θd is corrected to the angle command value θe according to the deviation in parallelism in the Y-axis direction. Thereby, in the joint drive part 114, in the inclination of the support tool 16 in the Y-axis direction, the support tool 16 and the mounting surface of the mounting tool 51 form either a parallel state or a copying state and are maintained. To do.

  Next, a minor control loop for controlling the rotation operation of the joint unit 15 around the Y axis in the joint drive unit 114 will be described.

  As shown in FIG. 8, the joint drive unit 114 includes a drive motor 82b that rotates the joint unit 15 about the Y axis, a rotation angle detection unit 87b that detects a rotation angle of the joint unit 15 about the Y axis, The difference detection unit 41b that detects the difference value between the angle amount of the joint unit 15 detected by the angle detection unit 87b and the angle command value θg, and the drive motor 82b is driven based on the difference value output from the difference detection unit 41b. And a regulator 40b for controlling the rotation angle of the joint portion 15.

  A known motor, for example, a DC motor, an AC motor, a stepping motor, or the like can be used as the drive motor 82b.

  As the rotation angle detector 87b, a known encoder can be used. For example, a rotary potentiometer or a rotary differential transformer can be used.

  The regulator 40b includes a drive circuit 83b that rotates the drive motor 82b in the forward or reverse direction based on the difference value output from the difference detection unit 41b.

  As the drive circuit 83b, a known drive circuit such as a bridge circuit can be used. Thereby, the regulator 40b can switch the polarity of the power supply connected to the drive motor 82b, and can rotate the drive motor 82b in the forward or reverse direction. Further, the regulator 40b has a differentiator (not shown) and stabilizes the control system of the minor control loop. Thereby, the joint part 15 can be stably controlled to the rotation angle commanded by the angle.

  Further, the joint driving unit 114 forms a whole control loop for automatic landing tracking when the lower surface of the support 16 is landed on the placement surface of the placement tool 51 (FIG. 2). And a stabilization compensator 42b and an adder 44b.

  The difference detection unit 43b detects, for example, the difference value between the outputs of the two landing detection sensors 32a that are provided apart from each other in the X-axis direction on the lower surface of the supporter 16.

  The stabilization compensator 42b includes an integrator (not shown) that cumulatively adds the difference values output from the difference detection unit 43b, and stabilizes the control system of the overall control loop. As a result, the joint driving unit 114 causes the lower surface of the support 16 to be in parallel with the placement surface of the placement tool 51 (FIG. 2) or based on the difference value detected by the difference detection unit 43b. This state is formed, and this state is stably maintained.

  The adder 44b adds the angle information θf and the output of the stabilization compensator 42b to calculate the angle command value θg described above.

  As described above, the joint driving unit 114 controls the inclination of the support 16 in the X-axis direction (around the Y axis) according to the operation command value θf from the input unit 14, and the lower surface of the support 16 is mounted. When landing on the mounting surface of the tool 51 (FIG. 2), the overall control loop is activated for the operation command value θf, and the support tool 16 when the support tool 16 is landed on the mounting tool 51. The operation command θf is corrected to the angle command value θg in accordance with the deviation of the parallelism in the X-axis direction with the mounting surface. Thereby, in the joint drive part 114, in the inclination of the support tool 16 in the X-axis direction, the support tool 16 and the mounting surface of the mounting tool 51 are formed in either a parallel state or a copying state and maintained. To do.

  As described above, the joint drive unit 114 performs the angle control in the minor control loop included in the overall control loop, so that, for example, even when the operation command is interrupted from the input unit 14, the minor control loop is activated. Therefore, the inclination of the support 16 at the time when the operation command is interrupted can be controlled to be maintained as it is. Thereby, operation | movement, such as pinching the cared person 2 with the support tool 16, can be prevented, and the safety | security of the transfer assistance apparatus 1 can be improved.

  Next, the operation | movement which concerns on the control system of the raising / lowering drive part 118 which raises / lowers the support tool 16 is demonstrated.

  As shown in FIG. 8, the elevation drive unit 118 controls the elevation of the support 16 by moving the leg 8 up and down in the Z-axis direction according to the height position command value Hc commanded from the input unit 14. ing. For this reason, the elevation drive unit 118 detects the stop position in the height direction of the support 16 when the leg unit 8 is moved up and down, and the drive motor 82c that moves the leg unit 8 up and down in the Z-axis direction. Unit 87c, difference detection unit 41c for detecting a difference value between the height direction stop position detected by height position detection unit 87c and height position command value Hc, and a difference value output from difference detection unit 41c And a regulator 40c that drives the drive motor 82c to control the stop position of the support 16 in the height direction.

  As the drive motor 82c, a known motor such as a DC motor, an AC motor, or a stepping motor can be used.

  As the height position detector 87c, a known linear motion or rotational position detector, for example, an optical encoder, a magnetic encoder, a potentiometer, a differential transformer, or the like can be used.

  The regulator 40c has a drive circuit 83c for rotating the drive motor 82c in the normal rotation or reverse direction based on the difference value output from the difference detection unit 41c and moving the leg 8 up and down in the Z-axis direction. As the drive circuit 83c, a known drive circuit, for example, a bridge circuit can be used. The polarity of the power source connected to the drive motor 82c is switched, and the drive motor 82c is rotated in the forward or reverse direction.

  Furthermore, the regulator 40c has a differentiator and stabilizes the control system of the minor control loop. Thereby, the leg part 8 can be moved up and down and the support 16 can be positioned to the height commanded.

  Further, the elevation drive unit 118 includes a height position generator 45 for generating a command value Hc for the height position of the support 16.

  For example, the height position generator 45 cumulatively adds the direction command values output from the control unit 110, and outputs a height position command value. When an upward “−1” value is input as an operation command from the input unit 14, the control unit 110 outputs an upward “−1” direction command value to the height position generator 45. Similarly, when a stop “0” value is input as an operation command from the input unit 14, the control unit 110 outputs a stop “0” direction command value to the height position generator 45. Similarly, when a downward “+1” value is input as an operation command from the input unit 14, the control unit 110 outputs a downward “+1” direction command value to the height position generator 45.

  The height position generator 45 multiplies this direction command value by a predetermined coefficient and cumulatively adds it. For example, when the predetermined coefficient is “2”, the height position generator 45 doubles the direction command value and performs cumulative addition. The alignment speed for height adjustment can be changed by changing the predetermined coefficient. Increasing the predetermined coefficient increases the alignment speed, and decreasing the predetermined coefficient decreases the alignment speed. The predetermined coefficient is not limited to “2”.

  In addition, the control unit 110 receives a value of “+1” pointing downward as an operation command from the input unit 14, and the lower surface of the support 16 is landed on the mounting surface of the mounting tool 51 (FIG. 2). When the outputs of the landing detection sensor 32 a and the landing detection sensor 32 b are both “ON”, a direction command value of stop “0” is output to the height position generator 45.

  As described above, the elevation drive unit 118 controls the stop position in the height direction of the support 16 in accordance with the operation command from the input unit 14, and the lower surface of the support 16 is placed on the mounting tool 51 (FIG. 2). When landing on the mounting surface, the lifting / lowering operation of the support 16 is stopped and the height of the support 16 is maintained.

  With the above configuration, in the transfer assist device 1, the control unit 110 controls any one of the joint portions 13 and 15 and the leg portion 8 so as to be a value within the set range of the outputs of the plurality of landing detection sensors 32. Control is performed to form and maintain one of a parallel state and a copying state between the mounting surface of the mounting tool 51 (FIG. 2) and the support tool 16. Thereby, the transfer assist device 1 automatically adjusts the spatial posture such as the position and angle of the support 16 in accordance with the inclination of the placement surface of the placement tool 51 on which the care receiver 2 is placed. The caregiver 3 can smoothly scoop up the cared person 2 from the placement tool 51 and transfer it without being particularly aware of the positional relationship between the placement surface and the support 16.

  Further, in the transfer assist device 1, landing detection sensors 32a and 32b are provided on the lower surface of the support 16 so as to be separated in a direction perpendicular to the rotation axis of the joint portion 13, and the landing detection sensors 32a and 32b are provided. In any of the above, two sensors are provided on the lower surface of the support 16 so as to be separated from each other in a direction orthogonal to the rotation axis of the joint portion 15. When the support 16 is lowered from above the placement surface toward the placement surface by the sliding motion of the leg portion 8, any one of the plurality of landing detection sensors 32 performs landing on the placement surface. When detected, either the joint portion 13 or the joint portion 15 is rotated together with the slide operation of the leg portion 8 so as to maintain the height of the landing detection sensor 32 that detects the landing with respect to the placement surface. When two or more of the plurality of landing detection sensors 32 detect the landing, the rotation of the joint portions 13 and 15 around the axis corresponding to the inclination is finished, and all the joint portions 13 and 15 When the rotation of 15 is finished, the lowering of the support 16 due to the sliding motion of the leg 8 is stopped. Thereby, the transfer assistance apparatus 1 can land the support 16 parallel to a mounting surface, and can stop it.

  Further, in the transfer assist device 1, the wheels 5 are driven, and when the support 16 is inserted between the cared person 2 and the placement surface, all of the plurality of landing detection sensors 32 perform the landing. When not detected, the support 16 is lowered by the sliding motion of the leg 8. When the output of any of the plurality of landing detection sensors 32 provided in the direction orthogonal to the rotation axis of the joint portions 13 and 15 is larger than the set range, the landing detection sensor 32 having a large output is placed. While the joint portions 13 and 15 are rotated in a direction away from the surface, when the output of any of the plurality of landing detection sensors 32 is smaller than the set range, the landing detection sensor 32 having a small output is placed on the mounting surface. The joint portions 13 and 15 are rotated in the abutting direction to maintain the output states of the plurality of landing detection sensors 32 within the set range. Thereby, at the time of insertion operation of the support member 16, the support member 16 can be adjusted to a fixed contact state with respect to the mounting surface.

  Next, the operation of the transfer assistance device 1 will be described with reference to FIG. FIG. 9 is a flowchart for explaining the operation of the transfer assist device 1 according to the first embodiment of the present invention. Hereinafter, the operation procedure of the caregiver 3 and the operation of the transfer support device 1 when the transfer support device 1 scoops up and transfers the care receiver 2 placed on the mounting tool 51 will be described.

  As shown in FIG. 9, the care giver 3 inputs an operation instruction to the input unit 14 in order to bring the transfer support device 1 close to the side surface of the mounting tool 51 on which the care receiver 2 is lying (S1). Based on this input, the control unit 110 controls the position driving unit 116 to drive the wheels 5 to bring the transfer assist device 1 closer to the side surface of the mounting tool 51 (S2).

  Next, the caregiver 3 lowers the supporter 16 so that the placement surface of the placement tool 51 and the distal end portion of the supporter 16 are in a parallel state, and between the care receiver 2 and the placement tool 51. Instruction information for inserting the support 16 is input (S3).

  Based on this input, the control unit 110 transmits control information to the joint drive unit 114 and the elevation drive unit 118 to operate the joint units 13 and 15 and the leg unit 8. In addition, as needed, the control part 110 drives the wheel 5 by controlling the position drive part 116, and adjusts the position of the transfer assistance apparatus 1. FIG.

  When the support unit 16 is lowered from above the placement surface toward the placement surface by the sliding motion of the leg portion 8, the control unit 110 causes any one of the plurality of landing detection sensors 32 to move to the placement surface. When the landing is detected, one of the joint portion 13 and the joint portion 15 is rotated so as to maintain the height of the landing detection sensor 32 that has detected the landing with respect to the placement surface, and a plurality of landings are detected. When two or more sensors 32 detect the landing in any one of the X direction and the Y direction among the detection sensors 32, the joint portions 13 and 15 around the axis corresponding to the inclination in the direction are detected. The pivoting operation is finished, and similarly, when the pivoting operations of all the joint portions 13 and 15 in the other directions are finished, the lowering of the support 16 due to the sliding motion of the leg portion 8 is stopped (S4, S5, S6). Thereby, the support 16 can be landed parallel to the mounting surface and stopped.

  The caregiver 3 confirms the lighting state of the light emitting diode of the notification unit 34 after the lowering of the support 16 stops. For example, the caregiver 3 confirms the state in which at least three landing detection sensors 32 detect the landing based on the lighting state of the notification unit 34, and places the lower end surface 33 of the support 16 on the mounting tool 51. An instruction for inserting the support 16 between the care receiver 2 and the placement device 51 is input to the input unit 14 while keeping the upper surface of the input device 14 in contact (S7). Thereby, the caregiver 3 does not pay close attention to the inclination with respect to the insertion of the supporter 16, and maintains the inclination of the lower end surface 33 of the supporter 16 between the care receiver 2 and the placement tool 51. The support 16 can be inserted into the base.

  Next, the control unit 110 instructs the belt driving unit 25 when the supporter 16 is inserted, and the belt unit 23 provided in an exposed state on the upper part of the supporter 16 is opposite to the moving direction of the supporter 16. In this direction, the support 16 is rotated at substantially the same speed as the moving speed of the support 16 (S8). In addition, the control unit 110 instructs the position driving unit 116 to drive the wheels 5 to move the transfer assist device 1 forward (in the X-axis direction) in accordance with the rotation of the belt unit 23, and to move the support 16. Insert (S9). Accordingly, when the support 16 is inserted, the relative speed between the cared person 2 and the belt part 23 is substantially “0”, and the belt part 23 of the support 16 in contact with the back of the cared person 2 rubs against the cared person 2. In addition, the support 16 can be smoothly inserted by the plurality of fixing rollers 26 provided on the lower end surface 33 of the support 16.

  Next, when the care giver 3 determines that the supporter 16 has been sufficiently inserted between the care receiver 2 and the upper surface of the placement tool 51, the caregiver 3 is placed on the scooping surface of the supporter 16. Instruction information for scooping is input to the input unit 14 (S10). Based on this input, the control unit 110 stops the driving of the belt driving unit 25 of the support 16 and stops the rotation of the belt unit 23 (S11). At the same time or immediately after this, the control unit 110 instructs the elevating drive unit 118 to drive the leg 8 and lift the support 16 (S12).

  Next, the caregiver 3 inputs instruction information for moving the transfer assist device 1 to the placement device 51 as the movement destination to the input unit 14 (S13). Based on this input, the control unit 110 controls the position driving unit 116 to move the transfer assisting device 1 to a destination, for example, the position of the mounting device 51 on the other side (S14).

  The caregiver 3 confirms that the transfer support device 1 has approached the destination placement tool 51, and inputs instruction information for bringing the support 16 into contact with the surface of the destination placement tool 51. 14 (S15).

  Based on this input, the control unit 110 controls the lifting / lowering driving unit 118 or the joint driving unit 114 to perform the lifting / lowering operation of the leg portion 8 and the pivoting operation of the joint portions 13 and 15, and the cared person 2 is put on it. The support 16 is brought into contact with the mounting tool 51 on the other side.

  When the support unit 16 is lowered from above the placement surface toward the placement surface by the sliding motion of the leg portion 8, the control unit 110 causes any one of the plurality of landing detection sensors 32 to move to the placement surface. When the landing is detected, one of the joint portion 13 and the joint portion 15 is rotated so as to maintain the height of the landing detection sensor 32 that has detected the landing with respect to the placement surface, and a plurality of landings are detected. When two or more sensors 32 detect the landing in any one of the X direction and the Y direction among the detection sensors 32, the joint portions 13 and 15 around the axis corresponding to the inclination in the direction are detected. The pivoting operation is finished, and similarly, when the pivoting operations of all the joint portions 13 and 15 in the other directions are finished, the lowering of the support 16 due to the sliding motion of the leg portion 8 is stopped (S16, S17, S18).

  Next, after the descent of the supporter 16 stops, the caregiver 3 confirms the lighting state of the notification unit 34, for example, a state in which at least three landing detection sensors 32 detect the landing (supporter 16 is an instruction for moving the support 16 rearward (in the opposite direction to the X direction) in a state where the lower end surface 33 of the 16 is parallel to the placement surface of the placement tool 51 and / or a copying state). It inputs into the input part 14 (S19). Based on this input, the control unit 110 instructs the belt drive unit 25 so that the belt unit 23 rotates in the direction opposite to the moving direction of the support member 16 at substantially the same speed as the moving speed of the support member 16. (S20). At the same time or immediately after this, the control unit 110 controls the position driving unit 116 to drive the wheel 5 to move the transfer assisting device 1 backward, and to move the support 16 between the care receiver 2 and the placement tool 51. Pull out from the space (S21). When the support 16 is pulled out, the support 16 can be pulled out smoothly without being rubbed against the cared person 2 by the functions and operations of the belt portion 23 and the fixing roller 26 as in the case of insertion.

  As described above, according to the transfer assist device 1 according to the first embodiment of the present invention, the mounting surface is inserted when the support 16 is inserted between the care receiver 2 and the mounting surface of the mounting tool 51. Even when the support member 16 is inserted between the care receiver 2 and the placement surface, at least any one of the pivoting motion of the joint portion 13 and the joint portion 15 and the lifting and lowering motion of the leg portion 8 is not possible. By operating these, the output of the plurality of landing detection sensors 32 is set to a value within the set range, whereby at least one of the parallel state and the copying state between the placement surface and the support 16 is set. Can be formed and maintained. Therefore, when the transfer support device 1 performs the transfer operation of the care receiver 2, the space posture such as the position and angle of the support 16 is automatically adjusted in accordance with the inclination of the placement surface. However, the cared person 2 can be smoothly scooped up from the mounting tool 51 and transferred without being particularly conscious of the positional relationship between the mounting surface and the support 16.

  In addition, a control device (not shown) for controlling the two transfer support devices 1 to perform a coordinated operation is provided, and when one of the two transfer support devices 1 is operated, The other transfer assist device 1 can also be operated so as to move in conjunction with it. For example, when the caregiver 3 operates to move one transfer support device 1 forward, backward, left, and right, the control device keeps the distance between the support members 16 provided in each of the two transfer support devices 1 constant. It can control so that the apparatus 1 may move back and forth and right and left. The control device in this case can have the same configuration as that of the control unit 110 shown in the third embodiment and FIG.

  Thereby, it is possible to cope with the mounting tool 51 having a plurality of mounting surfaces with different inclinations, such as a bed having a reclining function, by using a plurality of transfer support devices 1 and adjusting the inclination of the support 16 respectively. Can do. Therefore, this transfer support device can flexibly cope with various mounting tools. For example, it is possible to cope with the mounting tool 51 having two or more complicated shapes in which the mounting surface 51 of the mounting tool 51 is inclined, and a transfer support device with a multi-support mechanism can be realized.

  As a control apparatus, you may share the control part 110 with which any one transfer support apparatus 1 of the two transfer support apparatuses 1 is provided. It should be noted that the number of linked transfer support devices 1 is not limited to two. In accordance with the shape of the placement surface of the placement tool 51, three or more transfer support devices 1 may be linked.

  Further, the arrangement of the landing detection sensors 32a and 32b of the transfer assist device 1 is not limited to the arrangement of the present embodiment. Hereinafter, another arrangement example of the landing detection means of the transfer assist device 1 will be described.

  FIGS. 10A to 10D are plan views showing other arrangement examples of the landing detection means in the support 16 of the transfer assist device 1 according to the first embodiment of the present invention. FIG. 10D is an arrangement example when detecting the inclination of the lower end surface 33 of the support 16 in the X-axis and Y-axis directions, and FIG. 10B is the lower end surface of the support 16 in the Y-axis direction. FIG. 10C shows an arrangement example when detecting the inclination of the lower end surface 33 of the support 16 in the X-axis direction.

  Specifically, FIG. 10A shows that the landing detection sensor 32a is disposed at one end portion of the roller shaft core 26b of the two movable rollers 26a, and one roller shaft core is disposed at the other end portion. This is an example in which the landing detection sensor 32b is disposed only on 26b. With such an arrangement, transfer including the joint portion 13 that rotates around the X axis in the insertion direction of the support 16 and the joint portion 15 that rotates around the Y axis perpendicular to the insertion direction on the lower surface of the support 16. In the support device 1, the inclination of the lower end surface 33 of the support 16 can be detected from two directions, that is, the insertion direction of the support 16 and the direction orthogonal to the insertion direction, and the parallelism with the upper surface of the mounting tool 51 is adjusted. can do.

  FIG. 10B shows an example in which the landing detection sensors 32a and 32b are arranged at both ends of the roller shaft core 26b of one of the two movable rollers 26a. With such an arrangement, the landing detection sensors 32a and 32b detect the displacement of the roller shaft core 26b. The transfer assist device 1 is mounted on the lower end surface 33 of the support 16 while detecting the inclination of the lower end surface 33 of the support 16 using the joint portion 13 that rotates about the X axis in the insertion direction of the support 16. The parallelism with the upper surface of the placing tool 51 can be adjusted. Therefore, it is effective when the mounting tool 51, for example, the bed is not inclined with respect to the insertion direction of the support tool 16. In addition, when there is no need to match the inclination in the X-axis direction as in the case of the bed and the rotation around the Y-axis is not necessary, the joint portion 15 may be omitted.

  FIG. 10C shows the detection of landing on the side surface of one of the support members 16 of the roller shaft core 26b of the two movable rollers 26a in the vicinity of the roller shaft core 26b of the two movable rollers 26a. This is an example in which the sensors 32b are arranged in two places. With such an arrangement, it is possible to detect the inclination of the support 16 in the X-axis direction and adjust the lower end surface 33 of the support 16 and the upper surface of the mounting tool 51 in parallel.

  FIG. 10D shows one landing detection sensor 32 in the vicinity of the center of the lower surface of the supporter 16 in the width direction orthogonal to the insertion direction of the supporter 16, for example, at a distance Ya from both side surfaces. This is an example. In such a configuration, the landing detection sensor 32 operates when both end portions of the shaft core 26b of the movable roller 26a move to the upper side of the elongated hole portion 31, respectively. Also by this, it can be detected that the lower end surface 33 of the support 16 is parallel to the mounting surface of the mounting tool 51 in the Y-axis direction. Furthermore, in this example, the movable roller 26a is disposed at a position that is a distance Xa from the distal end portion of the lower end surface 33 of the support member 16, that is, at a central position with respect to a portion within a range of the distance Xb from the distal end portion of the support member 16. That is, the landing detection sensor 32 is disposed at the center of gravity in the range of the distance Xb on the distal end side of the support 16. In the case of this configuration, when the tip of the lower end surface 33 of the support 16 abuts the placement tool 51 in the range of the distance Xb with respect to the X-axis direction, the lower end surface of the support 16 in the X-axis direction. 33 is parallel to the placement surface of the placement tool 51. However, in the case of FIG. 10D, it is difficult to determine in which direction the support 16 should be tilted when the support 16 and the placement tool 51 are not parallel. A landing detection sensor 32 is provided. Therefore, you may combine this sensor 32 and the sensors 32a and 32b shown to Fig.10 (a)-(c). Note that the distance Xb between the tip of the lower end surface 33 of the support 16 and the placement tool 51 is set in advance so as to be an appropriate distance when the support 16 is inserted.

(Embodiment 2)
Next, the support member 17 according to the second embodiment of the present invention will be described with reference to FIGS. 11 to 14.

  FIG. 11 is a diagram illustrating an example of a wheelchair used in the transfer assist device 1 according to the second embodiment of the present invention, and FIG. 12 is a diagram illustrating a structural example of the support member 17 according to the second embodiment of the present invention. FIG. 13 is a diagram for explaining the operation when the support 17 of the transfer assist device 1 according to the second embodiment of the present invention is used, and FIG. 14 shows the transfer assist device 1 according to the second embodiment of the present invention. It is a figure which shows the other example of a state of the support member 17 at the time of use. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  In the first embodiment, by detecting the displacement of the movable roller 26a (or the roller shaft core 26b) provided on the lower surface of the support 16 of the transfer assist device 1, the parallel state of the mounting surface and the support 16 and the copying are detected. Any one of the states was formed and maintained. In other words, the first embodiment is based on the premise that the support 16 is landed on the mounting tool 51 (FIG. 2) having a large width such as a bed.

  On the other hand, in the second embodiment, when placing a support on a placing tool 51 (FIG. 2) that is narrower than a bed or the like, for example, a wheelchair 53 as shown in FIG. The support 17 that can form and maintain any one of the parallel state and the copying state of the surface and the support 17 will be described. In addition, in the transfer assistance apparatus 1 in this Embodiment, it replaces with the support 16 and shall use the support 17. FIG.

  Details of the support 17 will be described below. First, a side view of the support member 17 is shown in FIG. This figure shows a state in which a part of the support member 17 is broken. As shown in FIG. 12A, the support member 17 includes a frame body 21 fixed to the main body of the support member 17 on the lower surface side of the support member 17, a movable frame 18 held by the frame body 21, and a movable member. A plurality of landing detection sensors 32c for detecting that the frame 18 is displaced in the normal direction of the lower surface of the support 17 are provided. The moving direction of the movable frame 18 only needs to have a component in the normal direction relative to the lower surface of the support member 17.

  Further, in the support member 17, a spring 19 as an elastic body is provided between the frame body 21 and the movable frame 18. The spring 19 biases the movable frame 18 toward the lower surface side in the normal direction of the lower surface of the support member 17. The movable frame 18 is disposed inside the frame body 21 and is displaced in the vertical direction according to the expansion and contraction of the spring 19.

  Next, FIG. 12B shows a bottom view of the support member 17. The opening of the frame body 21 is formed to have a size covering most of the lower surface of the support member 17, and the movable frame 18 is formed to have a size covering most of the opening of the frame body 21. As shown in FIG. 12B, the movable frame 18 holds a plurality of fixed rollers 26 arranged so as to be orthogonal to the insertion direction of the support 17. Further, as shown in FIG. 12A, the movable frame 18 rotatably holds each of the fixed rollers 26 constituting the roller row in a state of slightly projecting downward from the lower end surface 33. The rotation of the fixed roller 26 reduces the load when the support member 17 is inserted between the care receiver 2 and the placement surface of the placement device 51.

  Next, FIG. 12C shows a BB cross-sectional view (main part) in FIG. As shown in FIG. 12C, the movable frame 18 is held by the frame body 21 on the lower surface side of the support member 17, and is maintained so as to be displaceable in the normal direction with respect to the lower surface of the support member 17. Thereby, on the lower surface side of the support member 17, a part of the movable frame 18, for example, the fixed roller 26, or the lower surface of the frame (the front end portion, the central portion, the rear end portion, the placement surface and the point, line or surface) Can be brought into contact with the mounting surface 51 of the wheelchair 53.

  It should be noted that the structure shown in FIGS. 12A to 12C is not limited. For example, using a connecting member such as a wire, the movable frame 18 may be maintained displaceable in a state of being separated from the frame body 21 by a predetermined distance on the lower surface side of the supporter 17. A spring may be used instead of the wire. Further, a guide or a slide mechanism may be provided on the lower surface side of the support 17 to support the movable frame 18 so as to move directly. If the movable frame 18 can be displaced in the normal direction of the lower surface of the support member 17, it can be brought into contact with the landing detection sensor 32 c by the displacement of the movable frame 18, so that the landing detection sensor 32 c is operated. Can do.

  The springs 19 are disposed near the four corners of the movable frame 18. As the spring 19, for example, a known compression coil spring, leaf spring, disc spring or the like can be used. Thus, the movable frame 18 is urged by the spring 19 toward the lower surface side in the normal direction of the lower surface of the support member 17, so that the movable frame 18 is displaced toward the frame body 21 due to the inclination, vibration, and disturbance of the support member 17. Can be suppressed, and erroneous detection of the landing detection sensor 32c can be prevented. In addition, arrangement | positioning of the spring 19 is not limited to four places.

  A plurality of landing detection sensors 32c are provided between the frame body 21 and the movable frame 18 in a state of being separated from each other. Each sensor 32 c is fixed to the frame body 21. Thereby, when the movable frame 18 is displaced and comes into contact with the landing detection sensor 32c, the landing detection sensor 32c is operated by the contact pressure. As the landing detection sensor 32c, the same sensor as the landing detection sensor 32a can be used. Further, in the arrangement example shown in FIG. 12B, four landing detection sensors 32 c are arranged near the four corners of the movable frame 18. That is, the landing detection sensors 32c are arranged in the X-axis direction and the Y-axis direction. By attaching the landing detection sensor 32c to the frame 21 on the main body side, wiring to the landing detection sensor 32c becomes easy. Further, it is not necessary to perform wiring from the frame body 21 side to the movable frame 18 side, and the wiring can be performed while being fixed to the frame body 21 side, so that reliability can be improved.

  With such a configuration, when one of the fixed rollers 26 in the roller row comes into contact with the mounting tool 51 or when a part of the movable frame 18 comes into contact with the mounting tool 51, the normal line of the lower surface of the support tool 17. The movable frame 18 is displaced in the direction, and any one of the landing detection sensors 32c fixed to the frame body 21 is brought into contact with a part of the movable frame 18, whereby any one of the landing detection sensors 32c is operated. Thereby, it can be detected that the lower surface of the support 17 has landed on the mounting tool 51. Thus, in the support 17 of the transfer assist device 1, even when a part of the movable frame 18 and the placement surface 51 of the wheelchair 53 are in contact with each other, the movable frame 18 is displaced to reach the landing. Since the detection sensor 32c can be brought into contact with the detection sensor 32c, it is possible to detect landing on a mounting tool having a mounting surface with a small area.

  Further, the movable frame 18 is provided with a protrusion 30 in the vicinity of the front end portion that is the front side of the support member 17. Since the protrusion 30 does not need to hold the fixed roller 26, the shape of the protrusion 30 can be reduced. Therefore, the protrusion 30 can be processed so as to become thinner from the movable frame 18 closer to the vicinity of the tip of the support member 17. One end of the protrusion 30 is coupled to the movable frame 18, and the other end extends to the vicinity of the tip of the support 17. Note that the protrusion 30 and the movable frame 18 may be integrally molded.

  Thereby, it is possible to detect that the movable frame 18 has landed on the mounting tool 51 even in the vicinity of the distal end portion of the support tool 17. Moreover, since the protrusion 30 is formed in a shape that becomes thinner as it approaches the vicinity of the distal end portion of the supporter 17, the entire distal end portion in the insertion direction of the supporter 17 can be made thinner, and the supporter 17 is placed on the care receiver 2. The insertion work at the time of inserting between the mounting surface of the mounting tool 51 is made easy.

  Next, an operation when the support member 17 is used in the transfer assist device 1 will be described with reference to FIGS.

  As illustrated in FIG. 13A, the transfer support device 1 is placed in front of the care receiver 2 in order to insert the support member 17 between the care receiver 2 and the placement surface of the placement tool 51. The support 17 is lowered to the end of the placement tool 51. At this time, in the transfer assist device 1, the tip of the support member 17 is lowered to the end of the placement tool 51 and to a position where contact with the care receiver 2 can be avoided. Even in such a case, since the transfer support device 1 is provided with the protrusion 30 in the vicinity of the distal end portion of the support member 17, the protrusion 30 and the placement surface 51 can be brought into contact with each other. The movable frame 18 is displaced in the normal direction of the lower surface of the support 17 as the projection 30 and the mounting surface 51 come into contact with each other, and the landing detection is performed by the contact between the movable frame 18 and the landing detection sensor 32c. The sensor 32c is activated. Thereby, in the transfer assistance apparatus 1, since it can detect that the support tool 17 landed on the mounting surface of the mounting tool 51, either the parallel state of a mounting surface and the support tool 17, and a copying state are either A state can be created and maintained.

  Next, as illustrated in FIG. 13B, the transfer support device 1 inserts the support 17 between the care receiver 2 and the placement surface of the placement tool 51. Then, as shown in FIG. 13 (c), the transfer assist device 1 makes both the front end portion and the rear end portion of the movable frame 18 come into contact with the placement surface at the time of insertion, and supports the inclination and the support of the placement surface. It can be maintained such that the inclination of the tool 17 is in a parallel state or a copying state.

  Next, when the insertion of the support member 17 is completed, the transfer assist device 1 scoops up the care receiver 2 to the support member 17 as shown in FIG.

  Next, as shown in FIG. 13E, the transfer support device 1 lowers the support 17 in order to transfer the cared person 2 to a wheelchair 53 having a width smaller than that of a bed, for example. The support 17 is placed on the wheelchair 53. At this time, even if the length Lb of the place where the landing detection sensor 32c is arranged in the support 17 is larger than the width La (FIG. 11) of the wheelchair 53 (Lb> La), The movable frame 18 is displaced by contact between a part (central portion) of the movable frame 18 and the wheelchair 53. Then, when the movable frame 18 comes into contact with at least one of the landing detection sensors 32c fixed to the frame body 21 near the four corners of the movable frame 18, the landing detection sensor 32c operates, and the lower surface of the support 17 is It detects that the user has landed on the wheelchair 53. Therefore, even when the care receiver 2 is transferred to a wheelchair 53 or the like that is narrower than a bed or the like, it is possible to detect that the lower surface of the support member 17 has landed on the wheelchair 53.

  Thus, in a series of transfer operations in the transfer support device 1, as shown in FIG. 13A, the transfer support device 1 first lowers the support member 17 to the end of the mounting device 51, and the cared person 2 It is necessary to insert the supporter 17 between the supporter 17 and the mounting surface of the mounting tool 51 to scoop up the cared person 2 and to move the cared person 2 to the transfer position with the supporter 17 being moved. And as shown in FIG.13 (e), when moving to the wheelchair 53, the cared person 2 is moved to the center position of the wheelchair 53, and after mounting the support member 17, it is mounted with the cared person 2 It is necessary to pull out the support 17 from between the tools 51. In this transfer assist device 1, the inclination of the support member 17 can be adjusted with respect to the inclination of the placement surface, and the landing is also detected at the front end portion and the center portion of the support member 17. The shape can also be accommodated.

  Further, the landing detection sensors 32 c are respectively fixed to the frame body 21 near the four corners of the movable frame 18. And in the transfer assistance apparatus 1, since the inclination of the support member 17 is adjusted with respect to the inclination of the mounting surface in the X-axis direction and the Y-axis direction based on the output of the landing detection sensor 32c, the support member 17 is to be cared for. It can be smoothly inserted into the back surface of the cared person 2 along the surface of the mounting tool 51 without abutting on the body side of the person 2.

  As described above, according to the transfer assist device 1 according to the second embodiment of the present invention, even when the care receiver 2 is transferred to a wheelchair 53 or the like that is narrower than a bed or the like, 17, a part of the movable frame 18, for example, the protrusion 30, the fixed roller 26, or the lower surface of the frame (can be contacted by a point, a line, or a surface at any one of the front end, the center, and the rear end The partial area) and the mounting surface of the wheelchair 53 can be brought into contact with each other. Thereby, in the transfer assistance device 1, even when the support 17 is lowered to the wheelchair 53 that is narrower than a bed or the like, the movable frame 18 is displaced in the normal direction of the lower surface of the support 17, so that Since the landing detection sensor 32 is activated by the contact between the movable frame 18 and the landing detection sensor 32, it is possible to detect that the lower surface of the support member 17 has landed on the mounting surface of the wheelchair 53. Either a parallel state with the support member 17 or a copying state can be formed and maintained.

  Further, as shown in FIG. 14A, in the transfer assist device 1, the front end portion of the support member 17 is landed on the placement surface of the placement device 51, but the rear portion of the support member 17 is lifted. In the case of the posture, the position of the front end of the movable frame 18 is displaced in the normal direction of the lower surface of the support member 17 and the landing detection sensor 32c in the vicinity of the front end is operated, while the rear end of the movable frame 18 is operated. The position is not displaced, and the landing detection sensor 32c near the rear end does not operate. Thereby, based on the detection status of the four landing detection sensors 32c arranged at the positions corresponding to the four corners of the movable frame 18, the inclination posture of the lower surface of the support member 17 as shown in FIG. Can do.

  For safety, for example, when a relief mechanism is provided at the connecting portion between the support member 17 and the arm portion 12 so that the cared person 2 is not crushed by the lowering of the support member 17, the support member 17 is shown in FIG. The posture may be as shown in (b). That is, the transfer assist device 1 may take a posture in which the rear portion of the support member 17 is landed while the front end portion of the support member 17 is not landed on the placement surface of the placement device 51. is there. In this case, since the position of the rear end portion of the movable frame 18 is displaced in the normal direction of the lower surface of the support member 17, the landing detection sensor 32c in the vicinity of the rear end portion of the support member 17 operates. However, since the position of the tip of the movable frame 18 is not displaced, the landing detection sensor 32c in the vicinity of the tip of the support 17 does not operate. Thereby, the transfer assistance apparatus 1 can detect the attitude | position of the lower surface of the support member 17 as shown in FIG.14 (b) based on the detection condition of the four landing detection sensors 32c. Since the transfer support device 1 includes a control for stopping the insertion operation when the posture of the lower surface of the support member 17 is detected, an operation of pushing the support member 17 against the body side of the care receiver 2 is performed. Can be prevented.

  The example in which the plurality of fixed rollers 26 are used as the movable guide member of the movable frame 18 has been described. However, instead of the plurality of fixed rollers 26, a planar board having a small friction coefficient (for example, a low friction resin material). The movable frame 18 may be provided with a board or the like molded in step 1). By attaching the lower surface of the board to the movable frame 18 so as to slightly protrude from the lower end surface 33 (FIG. 11A), the support member 17 can be attached to the care receiver 2 and the placement device 51 in the same manner as the fixed roller 26. It is possible to reduce the load when inserting between the mounting surface. Further, in the case of the board, since the gap between the fixed rollers 26 as in the case of the fixed roller 26 can be eliminated, it is possible to detect the landing anywhere on the lower surface of the support member 17. Thereby, for example, even if there is a protrusion on the placement surface of the wheelchair 53, for example, a lever for adjusting the inclination of the placement surface of the wheelchair 53, the lower surface of the support member 17 has landed on the placement device 51. Can be detected.

  Further, even if the movable frame 18 and the board are integrally molded, the landing can be detected anywhere on the lower surface of the support member 17, and the above-described effects can be obtained.

(Embodiment 3)
Next, the transfer support device 9 according to the third embodiment of the present invention will be described with reference to FIG. FIG. 15 is a perspective view showing a basic configuration of transfer assisting device 9 according to Embodiment 3 of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  In the transfer support device 1 according to the first embodiment, the care receiver 2 placed on the placement tool 51 by one support tool 16 is supported between the placement tool 51 and the care receiver 2. The example in which 16 is inserted and the cared person 2 is scooped up on the scooping surface of the support 16 and transferred to another mounting tool has been described. In the first embodiment, the support 16 is placed in accordance with the inclination of one placement surface of the placement tool 51, and the support 16 is inserted between the placement tool 51 and the care receiver 2.

  On the other hand, the transfer assist device 9 according to the third embodiment includes a plurality of supporters 16 and a plurality of rotating means (a plurality of joint portions 13 and 15 respectively) corresponding to the respective supporters 16. And a plurality of lifting means (leg portions 8). Thereby, even if it is the mounting tool 51 of the complicated shape which has two or more inclinations of a mounting surface, the transfer assistance apparatus 9 which can change the attitude | position of each support 16 is implement | achieved.

  As shown in FIG. 15, the transfer support device 9 includes two supporters 16, two joint parts 13 for supporting each supporter 16 in a posture, two arm parts 12, and two joint parts. 15, two legs 8, two holding parts 11 for holding the two legs 8, one control part 110, and two input parts 14.

  As in FIG. 1, the caregiver 3 stands between the two supports 16 and operates the input unit 14 with both hands to move the transfer support device 9, move each support 16, and the care receiver 2. Various inputs are performed to perform lifting operations.

  The control unit 110 controls the inclination of each of the two support tools 16 with respect to the mounting tool 51 (for example, the mounting parts 51 a and 51 b) having different mounting surfaces in accordance with an operation instruction from the input unit 14. Then, the inclination of each support 16 is made to follow each placement surface. In addition, the control unit 110 can control the other support 16 so that it moves in conjunction with one of the support 16 when operated by an instruction from the one input unit 14. For example, after inserting the support 16 between the mounting tool 51 and the cared person 2 and scooping up the cared person 2, the control unit 110 interlocks the two supports 16 and supports both of them. Control is performed so that the spacing between the tools 16 is kept constant. Thereby, the transfer assistance apparatus 9 can transfer the cared person 2 safely in the state which laid down on the supporter 16. FIG. The control for interlocking the two support members 16 may be executed when the support member 16 is inserted or withdrawn, or only when the care receiver 2 is supported by the two support members 16. It may be. For example, when both supporters 16 are interlocked after inserting the supporter 16 between the care receiver 2 and the placement surface, a flag is set when it is detected that each of the supporters 16 has been inserted. It is possible to shift to the lifting mode, and in this lifting mode, control for interlocking the two supporters 16 can be performed.

  The holding unit 11 is integrated by connecting the two holding units 6 with the connecting unit 10. In addition, the connection part 10 may be configured to be able to expand and contract so that the interval between the two supporters 16 can be changed. Thereby, control of space posture, such as each position and angle of the support 16, can be performed with high functionality, and operability can be improved. Thereby, according to the cared person's 2 body condition, the support 16 is supported on appropriate conditions, such as a head and a foot, individually, and the effect at the time of transfer is exhibited.

  As described above, in the transfer assist device 9 according to the third embodiment of the present invention, a plurality of support members are provided for the mounting device 51 having a plurality of mounting surfaces with different inclinations, such as a bed having a reclining function. 16 can be dealt with by adjusting the inclination of the support 16 respectively, so that various and advanced correspondence effects can be exhibited. For example, even the mounting tool 51 having two mounting surfaces with different inclinations can be handled. In addition, since each support 16 is supported using the integrated holding portion 11 as a base, the strength against deformation of the apparatus can be increased. Thereby, the space | interval of each support 16 can be maintained with a sufficient precision.

  In addition, in the transfer assistance apparatus 9, the two support tools 16 were provided and the care receiver 2 was scooped up, and the example transferred to a sleeping state was demonstrated. However, the number of supporters 16 in the transfer support device 9 is not limited to two. The number of supports 16 can be increased in accordance with the shape of the placement surface of the placement tool 51. Thereby, each support 16 can be matched with the shape of the complicated mounting surface of the mounting tool 51. When increasing the support 16, the rotation means (joint portions 13, 15) and the lifting means (leg 8) that freely support the support 16 may be increased together.

  Further, in the transfer support device 9, the case where the support 16 described in the first embodiment is used has been described. However, the support 17 described in the second embodiment may be used instead of the support 16. Good.

(Embodiment 4)
Next, an application example relating to the support 16 of the transfer assist device 1 according to the fourth embodiment of the present invention will be described with reference to FIGS.

  FIGS. 16A and 16B are diagrams for explaining an application example related to the structure of the support 16 of the transfer assist device 1 according to the fourth embodiment of the present invention, and FIG. It is a figure which shows the state of the support 16 before landing at the time of use of FIG. 16, FIG.16 (b) is a figure which shows the landing state of the support 16 after landing at the time of use of the transfer assistance apparatus 1. FIG. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  As shown in FIG. 16A, the support 16 is connected to a joint 15 for rotating the support 16 around the Y axis, and the arm 12 is connected to the joint 15. Yes. The arm portion 12 constitutes one link of a parallel link mechanism coupled to the joint portion 15. For this reason, the support 16 is kept horizontal in a state where the support 16 is not landed on the placement surface of the placement tool 51.

  The joint portion 15 includes a relief mechanism (not shown) for allowing the support 16 to freely rotate in a direction in which the angle θ0 decreases, and a rotating portion that rotates about an axis about the Y axis. And an angle detection sensor 73 for detecting an angle θ0 formed by the support 16 and the arm portion 12.

  As the angle detection sensor 73, a known encoder can be used. For example, a rotary potentiometer or a rotary differential transformer can be used.

  First, in the transfer assist device 1, the angle detection sensor 73 detects the angle θ 0 formed by the support 16 and the arm unit 12 when the support 16 is in a state before landing on the mounting surface of the mounting tool 51. Then, the detected angle θ0 is stored in a storage unit (not shown) of the control unit 110.

  Next, in the transfer assist device 1, when the caregiver 3 lowers the support 16 downward in the Z-axis direction (in the direction of arrow a), as shown in FIG. Is detected by the angle detection sensor 73 that the angle between the support 16 and the arm portion 12 has changed to an angle θ1 slightly smaller than the angle θ0. .

  Accordingly, the transfer assist device 1 can compare the angle information of the angle θ0 stored in the storage unit with the angle information of the angle θ1, and can determine the state of the angle θ0 <the angle θ1. Can be detected to have landed on the placement surface of the placement tool 51.

  As described above, according to the transfer assist device 1 according to the fourth embodiment of the present invention, the angle detection sensor 73 detects a change in the angle between the support 16 and the arm unit 12, and the change in the angle is detected. Since it can be detected that the support 16 has landed on the placement surface of the placement tool 51, the same effect as the landing detection sensor 32 can be exhibited. Therefore, when the placement surface of the placement tool 51 is flat without tilting in the X-axis direction, such as a bed, the transfer detection device 1 uses the angle detection sensor 73 instead of the landing detection sensor 32. be able to. Although not described, the transfer assist device 1 is provided with joint portions 13 capable of rotating the support 16 around the X axis, and landing detection sensors on both side surfaces of the support 16, respectively. 32a and 32b may be provided. In this case, the inclination of the support 16 in the Y-axis direction can be controlled based on the detection results of the sensors 32a and 32b.

(Embodiment 5)
Next, the support 16 of the transfer assist device 1 according to the fifth embodiment of the present invention will be described with reference to FIGS. 17 (a) (b) and 18 (a) (b).

  In the fifth embodiment, when the inclination of the placement surface of the placement tool 51 such as a bed is tilted not only in the Y-axis direction but also in the X-axis direction, an automatic alignment function that matches the tilt of the support 16 explain.

  FIGS. 17 (a), (b) and FIGS. 18 (a), (b) are diagrams for explaining another application example regarding the structure of the support 16 of the transfer assist device 1 according to the fifth embodiment of the present invention. FIG. 17 (a) is a side view of the structure of the support 16, and FIG. 17 (b) is an enlarged cross-sectional view taken along the line CC in FIG. 17 (a). FIG. 18 is a front view showing the positional relationship between the support 16 and the placement tool 51, and FIG. 18B is a side view when the support 16 comes into contact with the placement tool 51. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  First, a structure for connecting the support 16 to the arm portion 12 will be described. As shown in FIGS. 17A and 17B, the support 16 is connected to the arm portion 12 via the joint portion 13 and the joint portion 15. The joint portion 13 includes a clutch portion 81 such as an electromagnetic clutch.

  The joint portions 13 and 15 are provided with drive motors 82 corresponding to the respective axes in order to rotate the support 16 about axes around the X axis and the Y axis. In the drive motor 82, the one that rotates the joint portion 13 around the X axis is referred to as a drive motor 82a, and the one that rotates the joint portion 15 around the Y axis is referred to as a drive motor 82b. The drive motor 82 (82a, 82b) may have a speed reducer that reduces the rotational speed and enhances the torque.

  The clutch portion 81 includes a drive shaft portion 81a and a driven shaft portion 81b. The drive shaft portion 81a has two spring hook portions 84 protruding on both sides in the Y-axis direction. Further, the support 16 is provided with two spring hooks 85 protruding on both sides in the X-axis direction on the side surface on the joint part 13 side, and between the two spring hooks 84 and 85 on the same side, respectively. A tension spring 86 is provided. The two tension springs 86 automatically align to maintain the inclination of the support 16 at the rotation position fixed by the drive motor 82a when the support 16 rotates about the axis about the X axis. have. The tension spring 86 may be an elastic body such as rubber or a spring.

  When the clutch part 81 is OFF (non-operation), the support 16 is separated from the drive motor 82a. As a result, the support 16 can freely rotate around the axis about the X axis, and resists the biasing force of the two tension springs 86 provided on both sides of the clutch portion 81 from the drive motor 82a. Rotate. Accordingly, the inclination of the support 16 is maintained within a predetermined rotation range around the inclination of the support 16 at the rotation position fixed by the drive motor 82a.

  On the other hand, when the clutch portion 81 is ON (actuated), the support 16 is fixed to the joint portion 13 and rotates around the axis of the X axis with the rotation of the drive motor 82a. For example, the transfer assist device 1 causes the joint drive unit 114 to rotate the support 16 around the axis about the X axis using the drive motor 82a.

  Next, an operation when adjusting the inclination of the support 16 will be described. As shown in FIG. 18A, when the support 16 is placed on the mounting surface of the mounting tool 51, the clutch unit 81 is turned off while the support 16 is separated from the mounting tool 51. (Deactivate). At this time, the posture of the support 16 is maintained by the two tension springs 86. Next, when the end E of the support 16 contacts the mounting surface of the mounting tool 51 in the width direction of the support 16, the support 16 rotates about the X axis against the urging force of the tension spring 86. Move. Further, when the support 16 is lowered in the lower direction of the Z-axis, the support 16 is rotated in the direction of arrow D and becomes parallel to the mounting surface of the mounting tool 51. In this state, the inclination of the support 16 can be fixed by turning on (actuating) the clutch portion 81.

  Next, as shown in FIG. 18B, the caregiver 3 indicates the instruction information when there is a difference in inclination between the placement surface of the placement tool 51 and the lower surface of the support member 16 in the X-axis direction. Is input to the input unit 14, the landing detection sensors 32a and 32b are operated, the drive motor 82b is driven, and the support 16 is rotated around the Y axis.

  As described above, in the transfer assist device 1 according to the fifth embodiment of the present invention, the clutch portion 81 is turned off and the support 16 is disconnected from the drive motor 82a, whereby the support 16 is pivoted about the X axis. Therefore, the support 16 can be made to follow the mounting surface of the mounting tool 51 smoothly. Furthermore, the tilt of the support 16 can be fixed by turning on the clutch portion 81 in a state where the lower surface of the support 16 is parallel to the mounting surface of the mounting tool 51. When there is a difference in inclination between the placement surface of the placement tool 51 and the lower surface of the support 16 in the X-axis direction, the instruction information is input to the input unit 14 and the landing detection sensors 32a and 32b are turned on. By actuating, the drive motor 82b is driven, and the inclination of the support 16 can be adjusted around the Y axis. Thereby, when the inclination of the mounting surface of the mounting tool 51 such as a bed is tilted not only in the Y-axis direction but also in the X-axis direction, the tilt of the support 16 can be adjusted.

  Furthermore, the movement of the support 16 is braked by the tension spring 86 and the clutch portion 81, and the inclination of the support 16 is adjusted according to the body shape and posture of the care recipient 2, so that the caregiver 3 can perform the transfer work. Can be done smoothly.

(Embodiment 6)
Next, the support 16 of the transfer assist device 1 according to the sixth embodiment of the present invention will be described with reference to FIG.

  Embodiment 6 demonstrates the example which maintains the inclination of the support 16 using a drive motor.

  FIG. 19 is a side view for explaining still another application example related to the structure of the support 16 of the transfer assist device 1 according to the sixth embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  As shown in FIG. 19, the joint portion 13 and the joint portion 15 that hold the support 16 include a drive motor 82 and a rotation angle detection unit 87, and the control unit 110 includes a posture control unit 88.

  In the rotation angle detection unit 87, one that detects rotation around the X axis is referred to as a rotation angle detection unit 87a, and one that detects rotation around the Y axis is referred to as a rotation angle detection unit 87b.

  The attitude control unit 88 is a part of the control unit 110 and operates according to instruction information from the input unit 14. When instruction information such as “inclination maintaining mode” is input from the input unit 14, the posture control unit 88 moves the joint units 13 and 15 to the X axis based on information from the rotation angle detection unit 87 (87 a and 87 b). In addition, the drive motors 82a and 82b are operated to rotate around the axis around the Y axis, and the inclination of the support 16 is controlled.

  In addition, when maintaining the inclination of the supporter 16, the supporter 16 may be controlled to be variable within a set allowable range. For example, the input unit 14 may be provided with a plurality of setting modes such as “mode A” in which the tilt variation allowable range of the support 16 is large and “mode B” in which the tilt variation allowable range of the support 16 is small. Moreover, you may adjust the driving force when controlling the inclination variation allowable range of the supporter 16 and the inclination of the supporter 16 stepwise or continuously using a slide type input device.

  As described above, according to the transfer assist device 1 according to the sixth embodiment of the present invention, the orientation control unit 88 causes the input unit 14 to specify instruction information such as the “tilt maintenance mode” and the rotation angle detection unit 87 (87a, 87a, 87b), the drive motors 82a and 82b are operated to rotate the joints 13 and 15 about the X and Y axes, so that the inclination of the support 16 is maintained. be able to.

  In addition, the input unit 14 includes “mode A” in which the allowable fluctuation range of the inclination of the support 16 is large and “mode B” in which the allowable fluctuation range of the inclination of the support 16 is small. The inclination of the support 16 can be controlled so that the allowable range is different.

  In addition, by using a slide-type input device, it is possible to adjust the driving force for controlling the tilt variation allowable range of the supporter 16 and the tilt of the supporter 16 step by step or continuously. Fine control over the posture of the cared person 2 is possible, and an automatic alignment function that is kind to the cared person 2 can be realized.

(Embodiment 7)
Next, with reference to FIG. 20, another method for detecting landing will be described in the transfer assist device 1 according to the seventh embodiment of the present invention. Specifically, a method example of detecting landing using a plurality of load sensors will be described.

  FIG. 20 is a front view showing a structural example of the wheel 5 of the transfer assisting device 1 according to the seventh embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  As shown in FIG. 20, the wheel 5 includes a roller 101, a roller shaft 102, a housing 103, and a load sensor 104. A plurality of wheels 5 are provided, and each wheel 5 is fixedly or rotatably attached to a holding portion 6 (see, for example, FIG. 3). The load sensor 104 is attached to the housing 103. A driving source 105 is connected to the wheel 5 via a speed reducer so that the wheel 5 can run on its own.

  The control unit 110 includes a calculation unit 106 that calculates the position of the center of gravity of the transfer assist device 1 and a storage unit 107 that stores the calculation result.

  The computing unit 106 calculates the center of gravity position of the transfer assist device 1 based on output signals from the plurality of load sensors 104 at predetermined time intervals, and sequentially stores the computation results in the storage unit 107. Then, the calculation unit 106 calculates a difference value between a plurality of calculation results stored in the storage unit 107, and detects that the support 16 has landed on the mounting surface of the mounting tool 51 from the difference value. That is, the load sensor 104 functions as landing detection means.

  As described above, according to the transfer assist device 1 in the seventh embodiment of the present invention, the change in the center of gravity position of the transfer assist device 1 during operation is detected based on the output signals from the plurality of load sensors 104. From this change, it can be detected that the support 16 has landed on the placement surface of the placement tool 51. Furthermore, since the position of the center of gravity of the transfer assist device 1 can be detected and the center of gravity posture can be grasped during operation, and a dangerous posture can be prevented in advance, the safety of the transfer assist device 1 can be improved. It becomes possible.

(Embodiment 8)
Next, an application example when the display unit 111 is provided in the transfer assist device 1 according to the eighth embodiment of the present invention will be described with reference to FIG.

  FIG. 21 is an explanatory diagram for describing a configuration example of the display unit 111 of the transfer assist device 1 according to the eighth embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted. Here, a configuration example of the display unit 111 when two transfer assist devices 1 are used and a transfer operation is performed in cooperation with each other is shown.

  As shown in FIG. 21, in the display unit 111, the placement position 113 of the roller 101, the gravity center position G of the transfer assist device 1 and the support 16 are placed on the placement surface of the placement tool 51. The center of gravity position G1 is projected and displayed. In addition, as the gravity center position G and the gravity center position G1, those calculated in the seventh embodiment can be used. The display unit 111 displays outer frames F1 and F2 indicating the positions of the two supporters 16, respectively.

  As the display unit 111, for example, a display device using a liquid crystal display unit, an organic EL (electroluminescence) display, or the like can be used. As a result, when the caregiver 3 places the support 16 on the placement surface of the placement tool 51, the caregiver 3 supports the change from the change in the positional relationship between the center of gravity position G and the center of gravity position G1 displayed on the display unit 111. It can be known that the tool 16 has landed on the placement surface of the placement tool 51. In addition, what is necessary is just to provide the display part 111 in either one of the two transfer assistance apparatuses 1. FIG.

  Further, when the center of gravity position G1 is in the landing confirmation frame (E1, E2), it indicates that the support 16 is landing on the placement surface of the placement tool 51 with an appropriate pressure. Here, the landing confirmation frame E <b> 1 is used when there is one support 16 that lands on the placement surface of the placement tool 51, and the landing confirmation frame E <b> 2 is used when there are two supports 16. Further, the outside of the landing confirmation frames (E1, E2) displayed on the display unit 111 is a dangerous posture area such as the transfer assist device 1 falling, and the inside thereof is a safe posture region.

  As described above, according to the transfer assist device 1 according to the eighth embodiment of the present invention, the caregiver 3 is supported by the change in the positional relationship between the gravity center position G and the gravity center position G1 displayed on the display unit 111. It can be known that the tool 16 has landed on the placement surface of the placement tool 51.

  Moreover, since the caregiver 3 can easily grasp whether or not the transfer support device 1 is in a safe posture state from the display positions of the center of gravity G and G1 displayed on the display unit 111, transfer support A dangerous posture state such as the device 1 falling can be avoided, and the safety of the transfer assist device 1 can be improved.

  In addition, on the outer frames F1 and F2 indicating the position of the supporter 16, a notification unit display 112 for displaying the operation state of the landing detection sensor 32 is provided on the coordinates according to the arrangement position of the landing detection sensor 32. May be.

  As described above, in the transfer support device 1 and the transfer support device 9 according to the embodiment of the present invention, the case where the care giver 3 transfers the care receiver 2 is described. However, if the care receiver 2 is a human body, Well, for example, it can be similarly applied to those who have difficulty moving or moving themselves. Thereby, in the transfer assistance apparatus 1 and the transfer assistance apparatus 9, the human body can be scooped up from the mounting surface of a mounting tool, and can be transferred to another mounting tool.

  In addition, a camera or the like can be provided in the transfer support device 1 so that the support members 16 and 17 can be recognized based on the image information, and the positions and postures of the support members 16 and 17 can be controlled.

[Outline of the embodiment]
Here, an outline of the present embodiment will be described below.

  (1) As explained above, even when the placing surface of the placing tool for placing the human body is not horizontal, such as when the bed surface is inclined, the support is provided between the human body and the placing surface. When inserting the tool, at least one of the rotating means and the lifting / lowering means is operated, and based on the outputs of the plurality of landing detection means, at least the parallel state and the copying state between the mounting surface and the support tool Either state can be formed and maintained. Therefore, the transfer support device of the present embodiment has an effect of automatically adjusting the position and angle of the support according to the inclination of the mounting surface of the mounting device on which the person is mounted during the transfer operation of the care recipient. Demonstrate. Thereby, the care giver can smoothly pick up the cared person from the placement tool and transfer it without being particularly aware of the positional relationship between the placement surface and the transfer support device.

  (2) Further, the plurality of landing detection means are provided on the lower surface of the support member, and are separated from each other in a direction orthogonal to the rotation axis of each rotation device, and the control means is supported by the lifting device. Any one of a plurality of landing detection means provided in a direction perpendicular to the rotation axis of the rotation means for each rotation means when When the landing on the placement surface is detected, the raising and lowering means is operated while rotating the turning means so as to maintain the height with respect to the placement surface of the landing detection means that has detected the landing, When two or more of the plurality of landing detection means detect the landing, the turning of the turning means is finished, and the descent of the lifting means is stopped when the turning of all the turning means is finished. You may make it do.

  According to such a configuration, the support can be landed in parallel to the placement surface and stopped by the plurality of landing detection means and the rotation means. Therefore, the inclination of the lower surface of the supporter can be made parallel to the mounting surface having different inclinations.

  (3) The transfer assist device further includes support insertion means for moving the support in the insertion direction, and the control means is used when the support is inserted between the human body and the placement surface by the support insertion means. When any of the plurality of landing detection means does not detect the landing, the lifting means is lowered and any of the plurality of landing detection means provided in the direction orthogonal to the rotation axis of each rotation means. If the output is larger than the set range, the rotation means is rotated in a direction away from the placement surface, and the output of any of the plurality of landing detection means is set within the set range. When it is smaller, the rotation detecting means is rotated in a direction in which the landing detection means having a small output comes in contact with the placement surface, and the output states of the plurality of landing detection means are maintained within the set range. Good.

  According to such a configuration, it is possible to maintain the output states of the plurality of landing detection means within the set range during the insertion operation of the support. Therefore, the supporter can be adjusted to a fixed contact state with the mounting surface during the supporter insertion operation.

  (4) In addition, each of the plurality of landing detection means may be configured by a pressure sensor, and the landing state may be determined based on whether or not the contact pressure with the placement surface is within a set pressure range. .

  According to such a structure, the landing state with respect to the mounting surface of a support can be determined based on the information of contact pressure. Thereby, a support pressure can be controlled and a support can be made to land on a mounting surface. Further, when the support tool is accidentally brought into contact with the placement surface, it is possible to prevent the transfer assist device from being overturned or damaged by the reaction force, the placement tool being damaged, or the like.

  (5) Further, the set pressure range may be a pressure range received by the human body on the placement surface at the support insertion site. According to such a configuration, at the insertion site of the support, by making the placement surface the same as the pressure range received by the human body, the sinking amount of the human body with respect to the placement surface and the sinking of the support at the insertion site The amount can be substantially the same. Thereby, the level | step difference by the difference in the sinking amount in the insertion site | part of a supporter can be suppressed, and a supporter can be inserted smoothly.

  (6) The movable guide member further includes a movable guide member configured to be displaceable in a normal direction of the lower surface of the support, and a plurality of landing detection means are provided on the lower surface of the support, and the movable guide member You may make it detect a landing state by detecting the displacement of this.

  In such a configuration, since the movable guide member is displaced according to the contact pressure between the mounting tool and the support tool, the support tool has landed on the upper surface of the mounting tool by the displacement of the movable guide member. Can be detected.

  (7) The movable guide member is a movable frame supported so as to be displaceable with respect to the frame of the support, and the movable frame is moved in a normal direction of the lower surface of the support by contact pressure with the mounting surface. It may be displaced. According to this, for example, when a part of the movable frame comes into contact with the placement surface, the movable frame is displaced in the normal direction of the lower surface of the support. Then, the landing detection means is activated by the contact between the movable frame and the placement surface. Therefore, since the landing detection can be performed with a relatively large area movement of the movable frame, when the care recipient is transferred to a wheelchair having a width smaller than that of the bed, the center portion of the lower surface of the support member is placed on the wheelchair. Even when it is lowered onto the mounting surface, the landing can be detected by the landing detection means.

  (8) Further, an elastic body that is disposed between the frame body and the movable frame and biases the movable frame downward may be provided. According to this, since the movable frame is urged from the frame body to the lower surface side in the normal direction of the lower surface of the supporter, it is possible to suppress the displacement of the movable frame due to the inclination, vibration, and disturbance of the supporter, It is possible to prevent erroneous detection of the landing detection means.

  (9) The plurality of landing detection means may be provided on the frame of the support. According to such a configuration, the landing detection can be performed in the peripheral portion of the support, and the detection accuracy regarding the posture of the support at the time of landing can be improved. Furthermore, since wiring can be performed on the frame body on the main body side, wiring is facilitated. In addition, it is not necessary to perform wiring from the frame body to the movable guide member, and wiring can be performed while being fixed to the frame body side, so that reliability can be improved.

  (10) Further, the plurality of landing detection means may be provided in the vicinity of at least both ends of the lower surface on the front side in the insertion direction of the support. According to such a configuration, it is possible to detect the landing state of the support member in the vicinity of both end portions of the front lower surface during insertion. Therefore, the detection of the posture of the supporter at the time of insertion can be performed at the tip part (front end part) of the supporter, and the effect of realizing smooth insertion and landing can be exhibited.

  (11) Further, the rotation means has a first rotation means that rotates around an axis in the insertion direction of the support, and a plurality of landing detection means are provided. Also good. According to such a configuration, it is possible to control the posture of the support by the one rotating means that rotates around the axis in the insertion direction of the support and the two landing detection means. Therefore, the effect of controlling the posture of the support can be exerted with respect to the two-dimensional inclination of the placement surface.

  (12) Further, the rotating means is rotated around an axis orthogonal to the first rotating means and the lower surface of the support in the first rotation means rotating around the axis in the insertion direction of the support. And at least three landing detection means may be provided. According to such a configuration, the posture of the supporter can be controlled by the two rotating means that rotate around the two axes orthogonal to the supporter and the three landing detection means. Therefore, it is possible to exert an effect on the posture control of the support with respect to the three-dimensional inclination of the placement surface.

  (13) The transfer assist device of the present invention is inserted between the placement surface of the placement tool and the human body placed on the placement surface, and the support tool that holds the human body and the spatial posture of the support tool are changed. And one or more rotating means provided to perform at least one of the adjustments, an landing detection means for detecting that the lower surface of the support has landed on the upper surface of the mounting surface, and the support And a control unit capable of controlling the lifting / lowering means based on the output of the landing detection means, wherein the landing detection means has a width direction orthogonal to the insertion direction of the support The transfer support device is provided in the vicinity of the center of the lower surface of the support member, and the transfer support device includes a clutch disposed between the support member and the rotation unit, and a relative position of the support member with respect to the rotation unit. And an elastic body that elastically supports the support so as to be rotatable. When lowering the support by the lifting means from above the placement surface, the support is lowered with the clutch released until the landing detection means detects landing on the placement surface, and the landing detection means The clutch and the elevating means are controlled so that the clutch is engaged and the lowering of the support member is finished when detecting the landing.

  According to such a configuration, when the support is raised and lowered, the rotation of the support is allowed in a range limited by the elastic body, the landing detection unit detects the landing of the support, and the clutch is detected at the landing position. When is connected, the support is fixed by the rotating means, and can stop rotating. Therefore, by providing only one landing detection means, the effect of controlling and maintaining the spatial posture of the support can be exhibited, and the number of landing detection means can be reduced. Further, the elastic body can restrict the support so that it does not move freely when the clutch is disengaged. Furthermore, the inclination of the supporter can be adjusted according to the body shape and posture of the care recipient.

  (14) In addition, a plurality of support members, and a plurality of rotation means and lifting means corresponding to each of the plurality of support members, the plurality of landing detection means, the lower surface of the plurality of support members Each of the control means detects landing on the placement surface of the placement tool, and the control means controls the rotation means or the lifting means based on the outputs of the plurality of landing detection means.

  According to such a configuration, it is possible to easily cope with the inclination of the placement surface of the placement tool by using a plurality of support tools, and it is possible to exhibit various and advanced correspondence effects. For example, even a mounting tool having a complicated shape with three or more inclinations of the mounting surface of the mounting tool can be handled.

  (15) Further, the transfer support device with a multi-support mechanism according to the present invention includes a plurality of any one of the transfer support devices described above and a control device that controls the plurality of transfer support devices in cooperation with each other, The support of each transfer assist device is made to follow an angle corresponding to the inclination angle of the mounting surface.

  According to such a configuration, even when the mounting tool has a plurality of mounting surfaces with different inclinations, it is possible to cope with the inclination of the mounting surface of the mounting tool using a plurality of support tools. it can. Therefore, it can respond to various mounting tools flexibly. For example, even a mounting tool having a complicated shape with three or more inclinations of the mounting surface of the mounting tool can be handled.

  (16) In addition, a plurality of transfer support devices may be connected and integrated by a connecting portion. Thereby, the cooperation of a plurality of transfer support devices can be further strengthened, and the strength against deformation of the device can be increased. Thereby, the space | interval of each support tool can be kept with a sufficient precision.

  As described above, according to the present embodiment, even when the mounting surface of the mounting tool for mounting the human body is not horizontal, the human body can be smoothly lifted and transferred from the mounting tool. It is possible to provide a transfer support device and a transfer support device with a multi-support mechanism that are possible and have a low work burden for the caregiver.

  As described above, according to the present invention, a support tool is inserted between the placing tool on which the care receiver to be transferred and the care receiver are placed, and the scoop is moved up on the scooping surface of the support tool. In particular, even when the placement surface of the placement device on which the care recipient is placed is not horizontal, the caregiver can be scooped up and transferred smoothly from the placement device. be able to. Therefore, it is useful as a transfer support device, a transfer support device with a multi-support mechanism using the transfer support device, a care robot device, and the like.

  The present invention relates to a transfer support device that supports a transfer operation performed by a person in a hospital or a home, and in particular, a person who receives care such as an elderly person, a sick person, or an injured person (hereinafter referred to as a “care recipient”), The present invention relates to a transfer support device and a transfer support device with a multi-support mechanism for scooping up and transferring a cared person placed on a mounting device such as a wheelchair, a bed, or a stretcher.

  In hospitals and homes, family members and specialists have traditionally provided care mainly for people who have difficulty moving or moving their bodies or who are lying in bed. In this case, the burden on the work of the caregiver is large, and there are various problems including aspects such as securing human resources and costs. This situation is becoming an important social issue as society ages.

  On the other hand, conventionally, examples of a transfer nursing device for nursing the transportation of a patient lying on a bed and a nursing care robot for bathing have been proposed (see, for example, Patent Document 1 and Patent Document 2).

  In Patent Document 1, three transfer plates that respectively support the upper body, waist, and legs of a patient are provided so as to be movable back and forth along the upper surface of the bed, and a caregiver operates the three plates to cover all parts of the patient. The function of moving from the bed without difficulty or returning to the bed is disclosed. Moreover, in the assistance apparatus of this patent document 1, by arrange | positioning a force detector and a limit switch, the position and operating force of a plate are detected and care control is performed.

  In Patent Document 2, in the example of a nursing care robot for bathing, two support plates (for the upper body and for the lower body) are provided with water level detection sensors, respectively, and bathing is performed by controlling the bather's posture and bathing depth. .

JP-A-8-168505 Japanese Patent Publication No. 6-9588

  However, all of the conventional transfer assist devices are devices that detect a horizontal surface such as a fixed bed or a water surface of a bath, and a function to control corresponding to a detection surface having a complicated shape including an inclined surface is assumed. Not. On the other hand, in recent years, beds with a reclining function that can adjust the inclination of the backrest have become widespread as beds for care recipients used in hospitals and homes, and conventional transfer assist devices are related to beds that have a reclining function. It could not be used for transfer work of care recipients.

  In particular, when the placement surface of the bed on which the cared person is placed is not level with the backrest raised, the support member supporting the cared person is aligned with the inclination of the upper surface of the bed. The caregiver had to be scooped up with the tool in contact with the bed. For this reason, it has been difficult for the caregiver to adjust the position and inclination angle of the support according to the inclination of the placement surface by manual operation.

  The present invention has been made in view of such a problem, and even if the inclination of the placement surface of the placement tool on which the care recipient is placed is not horizontal, the care recipient can smoothly receive care. It is an object of the present invention to provide a transfer support device and a transfer support device with a multi-supporting mechanism that enable the user to scoop up and transfer the device from the mounting tool.

  In order to achieve the object as described above, the transfer assist device of the present invention is inserted between a placement surface of a placement tool and a human body placed on the placement surface, and a support tool that scoops the human body. One or more rotating means for changing and / or adjusting the posture of the support, and a plurality of landing detection means for detecting that the lower surface of the support has landed on the upper surface of the mounting surface And at least one of a parallel state and a copying state between the mounting surface and the support member based on the output of the lifting and lowering means for moving the support member and the plurality of landing detection means. And a control means for controlling the rotating means or the elevating means so as to be maintained.

  ADVANTAGE OF THE INVENTION According to this invention, even if it is a case where the inclination of the mounting surface of the mounting tool which mounts a human body is not horizontal, a human body can be smoothly picked up and transferred from a mounting tool, and a caregiver Therefore, it is possible to provide a transfer support device and a transfer support device with a multi-support mechanism with a low work load.

It is a perspective view which shows the condition at the time of use of the transfer assistance apparatus in Embodiment 1 of this invention. It is a side view which shows the usage example of the mounting tool which mounts a care receiver which the transfer assistance apparatus makes into the object of work. It is a perspective view which shows the structure of the principal part of the transfer assistance apparatus. It is a side view which shows the structure of the support tool of the transfer assistance apparatus. It is the elements on larger scale which show the structure of the landing detection means of the transfer assistance apparatus. It is a perspective view which shows the structure of the alerting | reporting means in the transfer assistance apparatus. It is a block diagram which shows the electrical structure of the transfer assistance apparatus. It is a figure for demonstrating the control system of the transfer assistance apparatus. It is a flowchart for demonstrating operation | movement of the transfer assistance apparatus. It is a top view which shows the other example of arrangement | positioning of the landing detection means of the transfer assistance apparatus. It is a figure which shows the example of the wheelchair used with the transfer assistance apparatus in Embodiment 2 of this invention. It is a figure which shows the structural example of the support tool of the transfer assistance apparatus. It is a figure for demonstrating operation | movement when using the support of the transfer assistance apparatus. It is a figure which shows the other example of a support in the time of use of the transfer assistance apparatus. It is a perspective view which shows the basic composition of the transfer assistance apparatus in Embodiment 3 of this invention. It is a figure for demonstrating the application example regarding the structure of the support of the transfer assistance apparatus in Embodiment 4 of this invention. It is a figure for demonstrating the other application example regarding the structure of the support of the transfer assistance apparatus in Embodiment 5 of this invention. It is a figure for demonstrating the other application example regarding the structure of the support of the transfer assistance apparatus. It is a side view for demonstrating the further another application example regarding the structure of the support of the transfer assistance apparatus in Embodiment 6 of this invention. It is a front view which shows the structural example of the wheel of the transfer assistance apparatus in Embodiment 7 of this invention. It is explanatory drawing for demonstrating the structural example of the display part of the transfer assistance apparatus in Embodiment 8 of this invention.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
First, with reference to FIG. 1 and FIG. 2, the outline | summary in case the caregiver 3 cares for the care receiver 2 using the transfer assistance apparatus 1 of Embodiment 1 of this invention is demonstrated. FIG. 1 is a perspective view showing a situation when the transfer assisting device 1 according to the first embodiment of the present invention is used, and FIG. 2 is a diagram illustrating the object to be worked on by the transfer assisting device 1 according to the first embodiment of the present invention. It is a side view which shows the usage example of the mounting tool which mounts the caregiver.

  The transfer support device 1 inserts a support 16 between the care receiver 2 placed on the placement tool and the placement tool, and scoops up the care receiver 2 on the scooping surface of the support 16. It is used as a main purpose to transfer to another mounting tool.

  FIG. 1 illustrates a case where two transfer assist devices 1 are operated from a mounting tool (for example, a bed) on which a cared person 2 is placed, and the cared person 2 is scooped up and held by two support tools 16. Indicates the state of Usually, the mounting tool is often used in a horizontal state, but in the first embodiment, the mounting tool can be adapted to various usage states of the mounting table.

  In the example shown in FIG. 2A, the cared person 2 is placed on a placing tool 51 whose inclination angle with respect to the horizontal plane H is an angle θa.

  In this case, the caregiver 3 operates the transfer assist device 1 to bring the support 16 closer to the mounting tool 51, and the parallelism between the mounting surface of the mounting tool 51 and the lower surface of the support 16 is set. Detect and adjust the inclination angle of the support 16. Next, the care giver 3 inserts the support 16 between the care receiver 2 and the placement surface of the placement tool 51, and scoops up the care receiver 2 on the scooping surface of the support 16. Thereby, the care giver 3 can transfer the care receiver 2 to another mounting tool.

  In the example shown in FIG. 2B, the mounting tool 51 has two mounting portions 51a and 51b connected to each other, and the mounting surfaces 51a and 51b have different inclinations. Here, the angle of inclination of the mounting portion 51a with respect to the horizontal plane H is an angle θb, and the angle of inclination of the mounting portion 51b with respect to the horizontal plane H is an angle θc.

  In this case, the caregiver 3 operates the two transfer assist devices 1 to bring the respective supporters 16 closer to the mounting tool 51 (mounting parts 51a and 51b), and then the mounting parts 51a and 51b. After detecting the parallelism between the mounting surface and the lower surface of the support 16 and adjusting the lower surface of the support 16 parallel to the inclination of the mounting surface, the care receiver 2 and the mounting device 51 (mounting) Each support 16 is inserted between the mounting portions 51a and 51b). Next, the caregiver 3 scoops up the cared person 2 using each of the support tools 16 by operating the two transfer assisting devices 1. Thereby, the care giver 3 can transfer the care receiver 2 in a state in which the care receiver 2 is lying on another placing tool.

  Next, the structure of the transfer assistance device 1 will be described with reference to FIG. FIG. 3 is a perspective view showing the structure of the main part of the transfer assist device 1 according to Embodiment 1 of the present invention. In FIG. 3, three axes (X axis, Y axis, and Z axis) orthogonal to each other are horizontal planes in which the XY plane is parallel to the ground, and the transfer assist device 1 has the front face in the X axis direction. Yes. That is, the X-axis direction is the insertion direction of the support 16. The Z axis is the vertical direction.

  The transfer support device 1 includes a support 16, a joint part 13, a joint part 15, an arm part 12, a support part 4, a control part 110, and an input part 14.

  The support 16 is inserted between the care receiver 2 placed on the placement tool 51 and the placement surface of the placement tool 51 and disposed for the purpose of scolding the care receiver 2. The support 16 includes a belt portion 23 for changing the position of supporting the care receiver 2 that has been scooped up on the support 16, and the lower surface of the support 16 on the mounting surface (or upper surface) of the mounting tool 51. There is provided a landing detection sensor 32 as a landing detection means (or a landing detection unit) for detecting the landing.

  The belt portion 23 is driven to rotate by a belt driving portion 25 (FIG. 4) described later. A plurality of landing detection sensors 32 are provided in the vicinity of both ends of the lower surface on the front side in the insertion direction of the support 16. The landing detection sensor 32 in the vicinity of one end in the width direction is referred to as an landing detection sensor 32a, and the landing detection sensor 32 in the vicinity of the other end is referred to as an landing detection sensor 32b. The landing detection sensor 32a and the landing detection sensor 32b are separated from each other in the Y-axis direction. The landing detection sensor 32a has two sensors spaced apart from each other in the X-axis direction. Moreover, the landing detection sensor 32b has two sensors spaced apart from each other in the X-axis direction. The landing detection sensors 32a and 32b may be provided at both ends of the lower end surface of the support 6, or may be provided at the lower end portion of the side surface.

  The joint portion 13 is provided as first rotating means (or first rotating portion) for performing at least one of change and adjustment of the posture of the support 16. The joint portion 13 rotates around the X axis with respect to the support portion 4. Similarly, the joint portion 15 is provided as second rotating means (or second rotating portion) for performing at least one of change and adjustment of the posture of the support 16, and is provided with respect to the support portion 4. Rotate around the Y axis. The joint portion 15 is coupled to the support portion 4, and the joint portion 13 is coupled to the joint portion 15. The rotational axis of the joint portion 13 is in a positional relationship orthogonal to the rotational axis of the joint portion 15. A known bearing mechanism that can rotate in one axial direction can be used for each of the joint portions 13 and 15 and is driven by a joint drive portion 114 using a motor or the like as a power source.

  The arm part 12 connects the joint part 13 and the joint part 15. In addition, the arm part 12 may be provided with an expansion / contraction mechanism, and the position of the support 16 may be changed by the expansion / contraction operation of the arm part 12.

  The support unit 4 includes a holding unit 6 as support device insertion means (or support device insertion unit) for inserting the support device 16 between the care receiver 2 and the mounting surface of the mounting device 51, and a supporting device. And a leg portion 8 as an elevating means (or elevating portion) for elevating and lowering 16, and supports the support 16 through the joint portion 13, the joint portion 15 and the arm portion 12.

  A plurality of wheels 5 are disposed in the holding unit 6. The wheels 5 are driven by a position driving unit 116 using a motor or the like as a power source, and the transfer assisting device 1 is independently moved in the front-rear and left-right directions, and is supported by the holding unit 6 so as to be rotatable around the Z axis. . In addition, as a support insertion means, you may use the structure which uses the wheel 5 and the arm part 12 together, or only the arm part 12. FIG. When only the arm part 12 is used, the position of the support 16 is changed by the expansion and contraction of the arm part 12.

  The leg part 8 connects the holding part 6 and the joint part 15 and moves the support 16 up and down by a slide mechanism. The slide mechanism is driven by a lift drive unit 118 using a motor or the like as a power source. In addition, as another raising / lowering means, it can be set as the structure which raises / lowers the support tool 16 by combining a some link and making the angle of the connected part changeable.

  The control unit 110 controls the joint driving unit 114, the position driving unit 116, the lifting / lowering driving unit 118, and the belt driving unit 25.

  The input unit 14 is for inputting instruction information for operating the transfer assist device 1. This instruction information is transmitted to the control unit 110, and the control unit 110 controls each of the drive units 114, 116, 118, and 25 described above. The input unit 14 may be a known input device such as a joystick, a lever, a push switch, or a touch panel that can perform an operation input such as switching of a moving direction, a moving speed, and an operation instruction. The caregiver 3 can steer the transfer support device 1 by operating the input unit 14. Note that the input unit 14 may further include a notification unit or a display unit for assisting the input operation. Configuration examples of the notification unit and the display unit will be described later.

  Next, a detailed configuration of the support 16 will be described with reference to FIGS. 4 and 5. FIG. 4 is a side view showing the structure of the support 16 of the transfer assist device 1 according to the first embodiment of the present invention, and FIG. 5 shows the landing detection means of the transfer assist device 1 according to the first embodiment of the present invention. It is the elements on larger scale which show the structure of these.

  As shown in FIG. 4, the support 16 includes a frame body 21, a belt guide roller 22, a belt portion 23, a belt driving portion 25, a fixed roller 26, a movable roller 26 a, and a landing detection sensor 32 (32 a and 32 b). ing.

  The belt portion 23 is held by a belt guide roller 22 supported by the frame body 21 and is driven by a belt driving portion 25 using a motor as a power source. Further, the belt portion 23 is exposed on the upper surface of the cover 20, and the cared person 2 can be moved while being placed on the belt portion 23. The support surface of the cared person 3 configured by the upper surface of the belt portion 23 has a length comparable to the width of the person's back in the insertion direction.

  A plurality of fixed rollers 26 are provided on both side surfaces of the frame body 21 so as to be orthogonal to the direction in which the support 16 is inserted, and a plurality of the fixed rollers 26 are provided so as to rotate up to the lower end surface 33. Due to the rotation of the fixed roller 26, the load when the support 16 is inserted between the care receiver 2 and the placement surface of the placement tool 51 is reduced.

  The landing detection sensors 32 (32a, 32b) are provided in the frame body 21 and are provided in the vicinity of the front side in the insertion direction of the support 16 and in the vicinity of both end portions of the lower surface. By using the landing detection sensor 32 (32a, 32b), the posture relationship between the mounting surface of the mounting tool 51 and the supporting tool 16 is detected prior to the insertion of the supporting tool 16, and the inclination of the supporting tool 16 is determined. Can be adjusted.

  FIG. 5 is a partially enlarged view in which the A part (two places) in FIG. 4 is enlarged, and shows the configuration of the landing detection sensor 32 (32a, 32b) provided in the A part. As shown in FIG. 5, the movable roller 26 a is a roller for detecting the posture of the support 16, and the movable roller 26 a is lowered on both sides of the frame body 21 so as to be orthogonal to the insertion direction of the support 16. It is held in a state of slightly projecting downward from the end face 33. The movable roller 26a rotates around the roller shaft core 26b. The roller shaft core 26 b is pivotally supported by the elongated hole portion 31 in a state where the roller shaft core 26 b is pressed downward by the leaf springs 28 at both side surface portions of the frame body 21. The long hole portion 31 provided on one of both side surface portions of the frame body 21 is defined as a long hole portion 31a, and the long hole portion 31 provided on the other side is defined as a long hole portion 31b. The movable roller 26a is a movable guide member that can move in the normal direction of the lower surface of the supporter 16. The roller 26a is pivotally supported by the long hole portions 31 (31a, 31b). The leaf spring 28 allows the movable roller 26a to move in a direction perpendicular to the lower end surface of the frame body 21 along the elongated holes 31a and 31b. As a result, the position of the movable roller 26 a is changed by the contact pressure between the support 16 and the placement tool 51.

  Note that the moving direction of the movable roller 26a only needs to have a component in the normal direction relative to the lower surface of the support 16. Further, the movable guide member is not limited to the movable roller 26a, and a sled guide member (for example, a low friction resin material) having a small friction coefficient, a movable frame, or the like can be used. This movable frame will be described later. The landing detection sensor 32 (32a, 32b) is provided in the vicinity of the roller shaft core 26b.

  The transfer support device 1 further includes a control unit 110. When detecting the displacement of the roller shaft core 26b by the landing detection sensor 32 (32a, 32b), the control unit 110 adjusts the inclination of the support 16 so that the output of the landing detection sensor 32 falls within the set range. The mutual positional relationship such as the degree of parallelism of the support 16 with respect to the placement surface of the placement tool 51 is controlled. That is, the control unit 110 has a function of forming and maintaining at least one of a parallel state and a copying state between the support 16 and the placement surface of the placement tool 51. The determination of the landing state by the control unit 110 is determined as the landing state when the output of the landing detection sensor 32 is within the set range.

  In the first embodiment, the landing detection sensors 32 are provided at four places. However, the present invention is not limited to this, and as a design matter, the landing detection sensors 32 are arranged according to the structure and function of the support 16. Various forms can be taken with respect to the number of arrangements and the positions of arrangement. In addition to the leaf spring 28, an elastic body such as rubber or spring can be used as a member that presses the movable roller 26a. Further, the long hole portion 31 (31a, 31b) is formed not only in the Z-axis direction but also in a shape including a component in the X-axis direction, for example, the long hole portion 31 (31a, 31b) is formed in a long shape in an oblique direction. The same effect can be obtained. In addition, the movable roller 26 a can be disposed as an independent structure on both side portions of the frame body 21. Further, as the landing detection sensor 32, a reed switch, a proximity switch, a light reflection type photo reflector, or the like can be used in addition to the micro switch shown in FIG. A similar effect can also be achieved by a method in which the strain sensor 27 is used as the landing detection sensor 32 and the strain amount of the leaf spring 28 deformed by the displacement of the movable roller 26a is detected by the strain sensor 27.

  Further, although the displacement of the movable roller 26a is detected, the contact pressure may be detected. For example, a pressure sensor such as a sheet-type pressure sensor that detects the contact pressure between the support 16 and the mounting tool 51 is provided at a portion that supports the fixed roller 26, and the mounting tool 51 is mounted on the lower surface of the support 16. Detect the contact pressure on the mounting surface. Thereby, based on the output value of the landing detection sensor 32, the control part 110 determines with a landing state, when the contact pressure with a mounting surface exists in the set pressure range. This set pressure may be set to the same level as the pressure received by the care receiver 2 on the placement surface of the placement tool 51. Thus, in the insertion site | part of the support tool 16, by making the mounting surface the same as the pressure range which the cared person 2 receives, the sinking amount of the cared person 2 with respect to the mounting surface, and the support device in the insertion site The amount of subsidence of 16 can be made substantially the same. Thereby, in the position which inserts the support tool 16, the level | step difference which arises from the difference in the amount of sinking is suppressed, and the mounting tool 51 and a cared person are made to contact | abut the front-end | tip part of the support tool 16 to the body of the cared person 2. The support 16 can be smoothly inserted between the two.

The set pressure may be a fixed value. For example, when the height L of the cared person 2 that can be handled by the transfer support device 1 according to the present embodiment is 150 cm to 180 cm, the 50th percentile value of the weight of a person of 165 cm, which is the median value, is about 57 kg. . In this case, since the pressure value P by this person is 0.035 kgf / cm 2 , this pressure value may be set as the set pressure, or a range having an allowable value of about 10% above and below is set as the set pressure. Also good.

  The set pressure may be changed by the subject. For example, when the cared person 2 is scolded with the supporter 16, the interval between the supporters 16 is adjusted according to the height of the cared person 2, so that the set pressure is changed according to this interval. Also good. For example, data relating the height L of the cared person 2 and the distance between the supporters 16 such as data corresponding to the distance between the supporters 16 when scolding the cared person 2 having a height of 165 cm, and the following formula are stored: Therefore, the set pressure P (L) is derived by the calculation according to the following equation based on the derived height L. That is, the pressure value P by a person with a height of 165 cm is corrected by the height, and the value after the correction is used as the set pressure P (L).

Set pressure P (L) = P × L / 165
The set pressure range may be a range of pressure that the placement surface receives by the care receiver 2 at the insertion site of the support 16. In this case, the range of the contact pressure to be set is that the placement surface receives from the cared person 2 at a site where the supporter 16 is inserted, such as the head, shoulder, foot, or back part of the cared person 2. The range of pressure, measured in advance by experiment. The storage unit (not shown) of the transfer support device 1 stores a database of measurement values of each part of the cared person 2 and the control unit 110 can access the database of the storage unit. It is possible. The control unit 110 acquires pressure information from the database and causes the supporter 16 to land on the placement surface based on the pressure information, so that the sinking amount of the care receiver 2 with respect to the placement surface and the support at the insertion site. The sinking amount of the tool 16 can be made substantially the same.

  In this case, the set pressure may be a fixed value or a variable value. In the case of a fixed value, for example, pressure values (50th percentile values, etc.) at the back, buttocks, and thighs of a person with a height of 165 cm are stored in a database, and this pressure value can be set as a set pressure. it can. On the other hand, in the case of a variable value, the data corresponding to the interval between the support members 16 is used, the pressure value at each part of a person with a height of 165 cm is corrected with the data and the height, and the setting at each part after the correction is performed. Pressure can be used.

  Next, the notification means provided in the support 16 will be described with reference to FIG. FIG. 6 is a perspective view showing the structure of the notification means in the transfer assist device 1 according to Embodiment 1 of the present invention.

  As shown in FIG. 6, a plurality of notification units 34 are provided in the vicinity of the landing detection sensors 32 as notification means for notifying the caregiver 3 of the states of the landing detection sensors 32. The notification unit 34 is provided at a position where it can be directly viewed from the caregiver 3, and is arranged so as not to come into contact with the cared person 2 when the cared person 2 is scooped up on the belt part 23 of the support 16. Yes. For example, the notification unit 34 is provided on both side portions of the frame body 21 and is provided for each landing detection sensor 32.

  As the notification unit 34, a light emitting diode, a liquid crystal panel, or the like is used, and the caregiver 3 is notified of the landing state using state changes such as lighting, blinking, and non-lighting. Thereby, the caregiver 3 can easily grasp the inclination of the supporter 16. Note that the notification means is not limited to a display means such as a light emitting diode, and can be notified by transmitting voice or vibration to the caregiver 3 using, for example, a voice generation device or a vibration device. In the sound generation device, a message for informing the landing state such as “the left side of the supporter has landed” may be generated. The vibration device is provided with a “vibration mode” that causes the hand of the caregiver 3 to feel different vibrations depending on the landing state, and “vibration mode” that varies depending on the landing state, similar to the sound generation device. By setting, a different message can be transmitted to the caregiver 3.

  Next, with reference to FIGS. 7 and 8, the electrical configuration of the transfer assist device 1 and the operation related to the control system will be described.

  FIG. 7 is a block diagram showing an electrical configuration of the transfer assist device 1 according to the first embodiment of the present invention, and FIG. 8 is a diagram for explaining a control system of the transfer assist device 1 according to the first embodiment of the present invention. is there.

  First, as illustrated in FIG. 7, the transfer assist device 1 includes an input unit 14 for inputting an operation command, a joint drive unit 114 that rotates the joint units 13 and 15, and a belt drive unit 25 that drives the belt unit 23. The elevating drive unit 118 that elevates and lowers the leg 8, the position drive unit 116 that drives the wheel 5, and the control unit 110 are provided. Furthermore, the transfer support device 1 includes, as input / output means, a plurality of landing detection sensors 32 for detecting the landing state of the support 16 and a notification unit 34 for notifying the caregiver 3 of the landing state. I have. For the joint driving unit 114, the belt driving unit 25, the elevation driving unit 118, and the position driving unit 116, driving means using a known motor or the like as a power source can be used.

  Next, operations related to the control system of the transfer assist device 1 will be described with reference to FIG. Here, the joint drive unit 114 and the lift drive unit 118 will be described in detail as an example.

  First, the operation of the control system of the joint drive unit 114 will be described. The control system of the joint drive unit 114 includes a minor control loop and an overall control loop. In the minor control loop, the turning motion of the joint portion 13 and the joint portion 15 is controlled with respect to each angle command value commanded based on the operation at the input unit 14, thereby controlling the inclination of the support 16. In the overall control loop, when the support 16 lands on the mounting tool 51 (FIG. 2), the angle command value is corrected according to the deviation in parallelism between the support 16 and the mounting surface of the mounting tool 51. .

  With such a configuration, the joint drive unit 114 performs angle control in the minor control loop included in the overall control loop, so that, for example, even when the operation command is interrupted from the input unit 14, the minor control loop is Since it works and is internally stable, it can be controlled to maintain the inclination of the support 16 when the operation command is interrupted.

  First, a minor control loop for controlling the rotation operation of the joint unit 13 around the X axis in the joint drive unit 114 will be described.

  As shown in FIG. 8, the joint drive unit 114 includes a drive motor 82a that rotates the joint unit 13 around the X axis, a rotation angle detection unit 87a that detects the rotation angle of the joint unit 13 around the X axis, A difference detection unit 41a that detects a difference value between the rotation angle amount of the joint unit 13 detected by the angle detection unit 87a and the angle command value θe, and a drive motor 82a based on the difference value output from the difference detection unit 41a. And a regulator 40 a that drives and controls the rotation angle of the joint portion 13.

  As the drive motor 82a, a known motor such as a DC motor, an AC motor, or a stepping motor can be used.

  As the rotation angle detector 87a, a known encoder can be used. For example, a rotary potentiometer or a rotary differential transformer can be used.

  The regulator 40a includes a drive circuit 83a that rotates the drive motor 82a in the forward or reverse direction based on the difference value output from the difference detection unit 41a.

  As the drive circuit 83a, a known drive circuit such as a bridge circuit can be used. Thereby, the regulator 40a can switch the polarity of the power supply connected to the drive motor 82a, and can rotate the drive motor 82a in the normal rotation or reverse direction. Furthermore, the regulator 40a has a differentiator (not shown) and stabilizes the control system of the minor control loop. Thereby, the joint drive part 114 can control the joint part 13 stably to the rotation angle by which the angle command was carried out.

  Further, the joint drive unit 114 is configured to form a difference detection unit 43a in order to form an overall control loop for automatic landing tracking when the lower surface of the support 16 is landed on the placement surface of the placement tool 51 (FIG. 2). And a stabilization compensator 42a and an adder 44a.

  The difference detector 43a detects a difference value between the output of the landing detection sensor 32a and the output of the landing detection sensor 32b provided on the lower surface of the supporter 16.

  The stabilization compensator 42a includes an integrator (not shown) that cumulatively adds the difference values output from the difference detector 43a, and stabilizes the control system of the overall control loop. As a result, the joint driving unit 114 forms the state where the lower surface of the support 16 is parallel to the placement surface of the placement tool 51 and the copying state based on the difference value detected by the difference detection unit 43a. In addition, the state can be stabilized and maintained.

  The adder 44a adds the angle information θd and the output of the stabilization compensator 42a to calculate the angle command value θe described above.

  As described above, the joint driving unit 114 controls the inclination of the support 16 in the Y-axis direction (around the X axis) according to the operation command θd from the input unit 14, and the lower surface of the support 16 is placed on the mounting tool. When landing on the mounting surface 51, the entire control loop is operated with respect to the operation command value θd, and the lower surface and the mounting surface of the supporting device 16 when the supporting device 16 has landed on the mounting device 51. The operation command θd is corrected to the angle command value θe according to the deviation in parallelism in the Y-axis direction. Thereby, in the joint drive part 114, in the inclination of the support tool 16 in the Y-axis direction, the support tool 16 and the mounting surface of the mounting tool 51 form either a parallel state or a copying state and are maintained. To do.

  Next, a minor control loop for controlling the rotation operation of the joint unit 15 around the Y axis in the joint drive unit 114 will be described.

  As shown in FIG. 8, the joint drive unit 114 includes a drive motor 82b that rotates the joint unit 15 about the Y axis, a rotation angle detection unit 87b that detects a rotation angle of the joint unit 15 about the Y axis, The difference detection unit 41b that detects the difference value between the angle amount of the joint unit 15 detected by the angle detection unit 87b and the angle command value θg, and the drive motor 82b is driven based on the difference value output from the difference detection unit 41b. And a regulator 40b for controlling the rotation angle of the joint portion 15.

  A known motor, for example, a DC motor, an AC motor, a stepping motor, or the like can be used as the drive motor 82b.

  As the rotation angle detector 87b, a known encoder can be used. For example, a rotary potentiometer or a rotary differential transformer can be used.

  The regulator 40b includes a drive circuit 83b that rotates the drive motor 82b in the forward or reverse direction based on the difference value output from the difference detection unit 41b.

  As the drive circuit 83b, a known drive circuit such as a bridge circuit can be used. Thereby, the regulator 40b can switch the polarity of the power supply connected to the drive motor 82b, and can rotate the drive motor 82b in the forward or reverse direction. Further, the regulator 40b has a differentiator (not shown) and stabilizes the control system of the minor control loop. Thereby, the joint part 15 can be stably controlled to the rotation angle commanded by the angle.

  Further, the joint driving unit 114 forms a whole control loop for automatic landing tracking when the lower surface of the support 16 is landed on the placement surface of the placement tool 51 (FIG. 2). And a stabilization compensator 42b and an adder 44b.

  The difference detection unit 43b detects, for example, the difference value between the outputs of the two landing detection sensors 32a that are provided apart from each other in the X-axis direction on the lower surface of the supporter 16.

  The stabilization compensator 42b includes an integrator (not shown) that cumulatively adds the difference values output from the difference detection unit 43b, and stabilizes the control system of the overall control loop. As a result, the joint driving unit 114 causes the lower surface of the support 16 to be in parallel with the placement surface of the placement tool 51 (FIG. 2) or based on the difference value detected by the difference detection unit 43b. This state is formed, and this state is stably maintained.

  The adder 44b adds the angle information θf and the output of the stabilization compensator 42b to calculate the angle command value θg described above.

  As described above, the joint driving unit 114 controls the inclination of the support 16 in the X-axis direction (around the Y axis) according to the operation command value θf from the input unit 14, and the lower surface of the support 16 is mounted. When landing on the mounting surface of the tool 51 (FIG. 2), the overall control loop is activated for the operation command value θf, and the support tool 16 when the support tool 16 is landed on the mounting tool 51. The operation command θf is corrected to the angle command value θg in accordance with the deviation of the parallelism in the X-axis direction with the mounting surface. Thereby, in the joint drive part 114, in the inclination of the support tool 16 in the X-axis direction, the support tool 16 and the mounting surface of the mounting tool 51 are formed in either a parallel state or a copying state and maintained. To do.

  As described above, the joint drive unit 114 performs the angle control in the minor control loop included in the overall control loop, so that, for example, even when the operation command is interrupted from the input unit 14, the minor control loop is activated. Therefore, the inclination of the support 16 at the time when the operation command is interrupted can be controlled to be maintained as it is. Thereby, operation | movement, such as pinching the cared person 2 with the support tool 16, can be prevented, and the safety | security of the transfer assistance apparatus 1 can be improved.

  Next, the operation | movement which concerns on the control system of the raising / lowering drive part 118 which raises / lowers the support tool 16 is demonstrated.

  As shown in FIG. 8, the elevation drive unit 118 controls the elevation of the support 16 by moving the leg 8 up and down in the Z-axis direction according to the height position command value Hc commanded from the input unit 14. ing. For this reason, the elevation drive unit 118 detects the stop position in the height direction of the support 16 when the leg unit 8 is moved up and down, and the drive motor 82c that moves the leg unit 8 up and down in the Z-axis direction. Unit 87c, difference detection unit 41c for detecting a difference value between the height direction stop position detected by height position detection unit 87c and height position command value Hc, and a difference value output from difference detection unit 41c And a regulator 40c that drives the drive motor 82c to control the stop position of the support 16 in the height direction.

  As the drive motor 82c, a known motor such as a DC motor, an AC motor, or a stepping motor can be used.

  As the height position detector 87c, a known linear motion or rotational position detector, for example, an optical encoder, a magnetic encoder, a potentiometer, a differential transformer, or the like can be used.

  The regulator 40c has a drive circuit 83c for rotating the drive motor 82c in the normal rotation or reverse direction based on the difference value output from the difference detection unit 41c and moving the leg 8 up and down in the Z-axis direction. As the drive circuit 83c, a known drive circuit, for example, a bridge circuit can be used. The polarity of the power source connected to the drive motor 82c is switched, and the drive motor 82c is rotated in the forward or reverse direction.

  Furthermore, the regulator 40c has a differentiator and stabilizes the control system of the minor control loop. Thereby, the leg part 8 can be moved up and down and the support 16 can be positioned to the height commanded.

  Further, the elevation drive unit 118 includes a height position generator 45 for generating a command value Hc for the height position of the support 16.

  For example, the height position generator 45 cumulatively adds the direction command values output from the control unit 110, and outputs a height position command value. When an upward “−1” value is input as an operation command from the input unit 14, the control unit 110 outputs an upward “−1” direction command value to the height position generator 45. Similarly, when a stop “0” value is input as an operation command from the input unit 14, the control unit 110 outputs a stop “0” direction command value to the height position generator 45. Similarly, when a downward “+1” value is input as an operation command from the input unit 14, the control unit 110 outputs a downward “+1” direction command value to the height position generator 45.

  The height position generator 45 multiplies this direction command value by a predetermined coefficient and cumulatively adds it. For example, when the predetermined coefficient is “2”, the height position generator 45 doubles the direction command value and performs cumulative addition. The alignment speed for height adjustment can be changed by changing the predetermined coefficient. Increasing the predetermined coefficient increases the alignment speed, and decreasing the predetermined coefficient decreases the alignment speed. The predetermined coefficient is not limited to “2”.

  In addition, the control unit 110 receives a value of “+1” pointing downward as an operation command from the input unit 14, and the lower surface of the support 16 is landed on the mounting surface of the mounting tool 51 (FIG. 2). When the outputs of the landing detection sensor 32 a and the landing detection sensor 32 b are both “ON”, a direction command value of stop “0” is output to the height position generator 45.

  As described above, the elevation drive unit 118 controls the stop position in the height direction of the support 16 in accordance with the operation command from the input unit 14, and the lower surface of the support 16 is placed on the mounting tool 51 (FIG. 2). When landing on the mounting surface, the lifting / lowering operation of the support 16 is stopped and the height of the support 16 is maintained.

  With the above configuration, in the transfer assist device 1, the control unit 110 controls any one of the joint portions 13 and 15 and the leg portion 8 so as to be a value within the set range of the outputs of the plurality of landing detection sensors 32. Control is performed to form and maintain one of a parallel state and a copying state between the mounting surface of the mounting tool 51 (FIG. 2) and the support tool 16. Thereby, the transfer assist device 1 automatically adjusts the spatial posture such as the position and angle of the support 16 in accordance with the inclination of the placement surface of the placement tool 51 on which the care receiver 2 is placed. The caregiver 3 can smoothly scoop up the cared person 2 from the placement tool 51 and transfer it without being particularly aware of the positional relationship between the placement surface and the support 16.

  Further, in the transfer assist device 1, landing detection sensors 32a and 32b are provided on the lower surface of the support 16 so as to be separated in a direction perpendicular to the rotation axis of the joint portion 13, and the landing detection sensors 32a and 32b are provided. In any of the above, two sensors are provided on the lower surface of the support 16 so as to be separated from each other in a direction orthogonal to the rotation axis of the joint portion 15. When the support 16 is lowered from above the placement surface toward the placement surface by the sliding motion of the leg portion 8, any one of the plurality of landing detection sensors 32 performs landing on the placement surface. When detected, either the joint portion 13 or the joint portion 15 is rotated together with the slide operation of the leg portion 8 so as to maintain the height of the landing detection sensor 32 that detects the landing with respect to the placement surface. When two or more of the plurality of landing detection sensors 32 detect the landing, the rotation of the joint portions 13 and 15 around the axis corresponding to the inclination is finished, and all the joint portions 13 and 15 When the rotation of 15 is finished, the lowering of the support 16 due to the sliding motion of the leg 8 is stopped. Thereby, the transfer assistance apparatus 1 can land the support 16 parallel to a mounting surface, and can stop it.

  Further, in the transfer assist device 1, the wheels 5 are driven, and when the support 16 is inserted between the cared person 2 and the placement surface, all of the plurality of landing detection sensors 32 perform the landing. When not detected, the support 16 is lowered by the sliding motion of the leg 8. When the output of any of the plurality of landing detection sensors 32 provided in the direction orthogonal to the rotation axis of the joint portions 13 and 15 is larger than the set range, the landing detection sensor 32 having a large output is placed. While the joint portions 13 and 15 are rotated in a direction away from the surface, when the output of any of the plurality of landing detection sensors 32 is smaller than the set range, the landing detection sensor 32 having a small output is placed on the mounting surface. The joint portions 13 and 15 are rotated in the abutting direction to maintain the output states of the plurality of landing detection sensors 32 within the set range. Thereby, at the time of insertion operation of the support member 16, the support member 16 can be adjusted to a fixed contact state with respect to the mounting surface.

  Next, the operation of the transfer assistance device 1 will be described with reference to FIG. FIG. 9 is a flowchart for explaining the operation of the transfer assist device 1 according to the first embodiment of the present invention. Hereinafter, the operation procedure of the caregiver 3 and the operation of the transfer support device 1 when the transfer support device 1 scoops up and transfers the care receiver 2 placed on the mounting tool 51 will be described.

  As shown in FIG. 9, the care giver 3 inputs an operation instruction to the input unit 14 in order to bring the transfer support device 1 close to the side surface of the mounting tool 51 on which the care receiver 2 is lying (S1). Based on this input, the control unit 110 controls the position driving unit 116 to drive the wheels 5 to bring the transfer assist device 1 closer to the side surface of the mounting tool 51 (S2).

  Next, the caregiver 3 lowers the supporter 16 so that the placement surface of the placement tool 51 and the distal end portion of the supporter 16 are in a parallel state, and between the care receiver 2 and the placement tool 51. Instruction information for inserting the support 16 is input (S3).

  Based on this input, the control unit 110 transmits control information to the joint drive unit 114 and the elevation drive unit 118 to operate the joint units 13 and 15 and the leg unit 8. In addition, as needed, the control part 110 drives the wheel 5 by controlling the position drive part 116, and adjusts the position of the transfer assistance apparatus 1. FIG.

  When the support unit 16 is lowered from above the placement surface toward the placement surface by the sliding motion of the leg portion 8, the control unit 110 causes any one of the plurality of landing detection sensors 32 to move to the placement surface. When the landing is detected, one of the joint portion 13 and the joint portion 15 is rotated so as to maintain the height of the landing detection sensor 32 that has detected the landing with respect to the placement surface, and a plurality of landings are detected. When two or more sensors 32 detect the landing in any one of the X direction and the Y direction among the detection sensors 32, the joint portions 13 and 15 around the axis corresponding to the inclination in the direction are detected. The pivoting operation is finished, and similarly, when the pivoting operations of all the joint portions 13 and 15 in the other directions are finished, the lowering of the support 16 due to the sliding motion of the leg portion 8 is stopped (S4, S5, S6). Thereby, the support 16 can be landed parallel to the mounting surface and stopped.

  The caregiver 3 confirms the lighting state of the light emitting diode of the notification unit 34 after the lowering of the support 16 stops. For example, the caregiver 3 confirms the state in which at least three landing detection sensors 32 detect the landing based on the lighting state of the notification unit 34, and places the lower end surface 33 of the support 16 on the mounting tool 51. An instruction for inserting the support 16 between the care receiver 2 and the placement device 51 is input to the input unit 14 while keeping the upper surface of the input device 14 in contact (S7). Thereby, the caregiver 3 does not pay close attention to the inclination with respect to the insertion of the supporter 16, and maintains the inclination of the lower end surface 33 of the supporter 16 between the care receiver 2 and the placement tool 51. The support 16 can be inserted into the base.

  Next, the control unit 110 instructs the belt driving unit 25 when the supporter 16 is inserted, and the belt unit 23 provided in an exposed state on the upper part of the supporter 16 is opposite to the moving direction of the supporter 16. In this direction, the support 16 is rotated at substantially the same speed as the moving speed of the support 16 (S8). In addition, the control unit 110 instructs the position driving unit 116 to drive the wheels 5 to move the transfer assist device 1 forward (in the X-axis direction) in accordance with the rotation of the belt unit 23, and to move the support 16. Insert (S9). Accordingly, when the support 16 is inserted, the relative speed between the cared person 2 and the belt part 23 is substantially “0”, and the belt part 23 of the support 16 in contact with the back of the cared person 2 rubs against the cared person 2. In addition, the support 16 can be smoothly inserted by the plurality of fixing rollers 26 provided on the lower end surface 33 of the support 16.

  Next, when the care giver 3 determines that the supporter 16 has been sufficiently inserted between the care receiver 2 and the upper surface of the placement tool 51, the caregiver 3 is placed on the scooping surface of the supporter 16. Instruction information for scooping is input to the input unit 14 (S10). Based on this input, the control unit 110 stops the driving of the belt driving unit 25 of the support 16 and stops the rotation of the belt unit 23 (S11). At the same time or immediately after this, the control unit 110 instructs the elevating drive unit 118 to drive the leg 8 and lift the support 16 (S12).

  Next, the caregiver 3 inputs instruction information for moving the transfer assist device 1 to the placement device 51 as the movement destination to the input unit 14 (S13). Based on this input, the control unit 110 controls the position driving unit 116 to move the transfer assisting device 1 to a destination, for example, the position of the mounting device 51 on the other side (S14).

  The caregiver 3 confirms that the transfer support device 1 has approached the destination placement tool 51, and inputs instruction information for bringing the support 16 into contact with the surface of the destination placement tool 51. 14 (S15).

  Based on this input, the control unit 110 controls the lifting / lowering driving unit 118 or the joint driving unit 114 to perform the lifting / lowering operation of the leg portion 8 and the pivoting operation of the joint portions 13 and 15, and the cared person 2 is put on it. The support 16 is brought into contact with the mounting tool 51 on the other side.

  When the support unit 16 is lowered from above the placement surface toward the placement surface by the sliding motion of the leg portion 8, the control unit 110 causes any one of the plurality of landing detection sensors 32 to move to the placement surface. When the landing is detected, one of the joint portion 13 and the joint portion 15 is rotated so as to maintain the height of the landing detection sensor 32 that has detected the landing with respect to the placement surface, and a plurality of landings are detected. When two or more sensors 32 detect the landing in any one of the X direction and the Y direction among the detection sensors 32, the joint portions 13 and 15 around the axis corresponding to the inclination in the direction are detected. The pivoting operation is finished, and similarly, when the pivoting operations of all the joint portions 13 and 15 in the other directions are finished, the lowering of the support 16 due to the sliding motion of the leg portion 8 is stopped (S16, S17, S18).

  Next, after the descent of the supporter 16 stops, the caregiver 3 confirms the lighting state of the notification unit 34, for example, a state in which at least three landing detection sensors 32 detect the landing (supporter 16 is an instruction for moving the support 16 rearward (in the opposite direction to the X direction) in a state where the lower end surface 33 of the 16 is parallel to the placement surface of the placement tool 51 and / or a copying state). It inputs into the input part 14 (S19). Based on this input, the control unit 110 instructs the belt drive unit 25 so that the belt unit 23 rotates in the direction opposite to the moving direction of the support member 16 at substantially the same speed as the moving speed of the support member 16. (S20). At the same time or immediately after this, the control unit 110 controls the position driving unit 116 to drive the wheel 5 to move the transfer assisting device 1 backward, and to move the support 16 between the care receiver 2 and the placement tool 51. Pull out from the space (S21). When the support 16 is pulled out, the support 16 can be pulled out smoothly without being rubbed against the cared person 2 by the functions and operations of the belt portion 23 and the fixing roller 26 as in the case of insertion.

  As described above, according to the transfer assist device 1 according to the first embodiment of the present invention, the mounting surface is inserted when the support 16 is inserted between the care receiver 2 and the mounting surface of the mounting tool 51. Even when the support member 16 is inserted between the care receiver 2 and the placement surface, at least any one of the pivoting motion of the joint portion 13 and the joint portion 15 and the lifting and lowering motion of the leg portion 8 is not possible. By operating these, the output of the plurality of landing detection sensors 32 is set to a value within the set range, whereby at least one of the parallel state and the copying state between the placement surface and the support 16 is set. Can be formed and maintained. Therefore, when the transfer support device 1 performs the transfer operation of the care receiver 2, the space posture such as the position and angle of the support 16 is automatically adjusted in accordance with the inclination of the placement surface. However, the cared person 2 can be smoothly scooped up from the mounting tool 51 and transferred without being particularly conscious of the positional relationship between the mounting surface and the support 16.

  In addition, a control device (not shown) for controlling the two transfer support devices 1 to perform a coordinated operation is provided, and when one of the two transfer support devices 1 is operated, The other transfer assist device 1 can also be operated so as to move in conjunction with it. For example, when the caregiver 3 operates to move one transfer support device 1 forward, backward, left, and right, the control device keeps the distance between the support members 16 provided in each of the two transfer support devices 1 constant. It can control so that the apparatus 1 may move back and forth and right and left. The control device in this case can have the same configuration as that of the control unit 110 shown in the third embodiment and FIG.

  Thereby, it is possible to cope with the mounting tool 51 having a plurality of mounting surfaces with different inclinations, such as a bed having a reclining function, by using a plurality of transfer support devices 1 and adjusting the inclination of the support 16 respectively. Can do. Therefore, this transfer support device can flexibly cope with various mounting tools. For example, it is possible to cope with the mounting tool 51 having two or more complicated shapes in which the mounting surface 51 of the mounting tool 51 is inclined, and a transfer support device with a multi-support mechanism can be realized.

  As a control apparatus, you may share the control part 110 with which any one transfer support apparatus 1 of the two transfer support apparatuses 1 is provided. It should be noted that the number of linked transfer support devices 1 is not limited to two. In accordance with the shape of the placement surface of the placement tool 51, three or more transfer support devices 1 may be linked.

  Further, the arrangement of the landing detection sensors 32a and 32b of the transfer assist device 1 is not limited to the arrangement of the present embodiment. Hereinafter, another arrangement example of the landing detection means of the transfer assist device 1 will be described.

  FIGS. 10A to 10D are plan views showing other arrangement examples of the landing detection means in the support 16 of the transfer assist device 1 according to the first embodiment of the present invention. FIG. 10D is an arrangement example when detecting the inclination of the lower end surface 33 of the support 16 in the X-axis and Y-axis directions, and FIG. 10B is the lower end surface of the support 16 in the Y-axis direction. FIG. 10C shows an arrangement example when detecting the inclination of the lower end surface 33 of the support 16 in the X-axis direction.

  Specifically, FIG. 10A shows that the landing detection sensor 32a is disposed at one end portion of the roller shaft core 26b of the two movable rollers 26a, and one roller shaft core is disposed at the other end portion. This is an example in which the landing detection sensor 32b is disposed only on 26b. With such an arrangement, transfer including the joint portion 13 that rotates around the X axis in the insertion direction of the support 16 and the joint portion 15 that rotates around the Y axis perpendicular to the insertion direction on the lower surface of the support 16. In the support device 1, the inclination of the lower end surface 33 of the support 16 can be detected from two directions, that is, the insertion direction of the support 16 and the direction orthogonal to the insertion direction, and the parallelism with the upper surface of the mounting tool 51 is adjusted. can do.

  FIG. 10B shows an example in which the landing detection sensors 32a and 32b are arranged at both ends of the roller shaft core 26b of one of the two movable rollers 26a. With such an arrangement, the landing detection sensors 32a and 32b detect the displacement of the roller shaft core 26b. The transfer assist device 1 is mounted on the lower end surface 33 of the support 16 while detecting the inclination of the lower end surface 33 of the support 16 using the joint portion 13 that rotates about the X axis in the insertion direction of the support 16. The parallelism with the upper surface of the placing tool 51 can be adjusted. Therefore, it is effective when the mounting tool 51, for example, the bed is not inclined with respect to the insertion direction of the support tool 16. In addition, when there is no need to match the inclination in the X-axis direction as in the case of the bed and the rotation around the Y-axis is not necessary, the joint portion 15 may be omitted.

  FIG. 10C shows the detection of landing on the side surface of one of the support members 16 of the roller shaft core 26b of the two movable rollers 26a in the vicinity of the roller shaft core 26b of the two movable rollers 26a. This is an example in which the sensors 32b are arranged in two places. With such an arrangement, it is possible to detect the inclination of the support 16 in the X-axis direction and adjust the lower end surface 33 of the support 16 and the upper surface of the mounting tool 51 in parallel.

  FIG. 10D shows one landing detection sensor 32 in the vicinity of the center of the lower surface of the supporter 16 in the width direction orthogonal to the insertion direction of the supporter 16, for example, at a distance Ya from both side surfaces. This is an example. In such a configuration, the landing detection sensor 32 operates when both end portions of the shaft core 26b of the movable roller 26a move to the upper side of the elongated hole portion 31, respectively. Also by this, it can be detected that the lower end surface 33 of the support 16 is parallel to the mounting surface of the mounting tool 51 in the Y-axis direction. Furthermore, in this example, the movable roller 26a is disposed at a position that is a distance Xa from the distal end portion of the lower end surface 33 of the support member 16, that is, at a central position with respect to a portion within a range of the distance Xb from the distal end portion of the support member 16. That is, the landing detection sensor 32 is disposed at the center of gravity in the range of the distance Xb on the distal end side of the support 16. In the case of this configuration, when the tip of the lower end surface 33 of the support 16 abuts the placement tool 51 in the range of the distance Xb with respect to the X-axis direction, the lower end surface of the support 16 in the X-axis direction. 33 is parallel to the placement surface of the placement tool 51. However, in the case of FIG. 10D, it is difficult to determine in which direction the support 16 should be tilted when the support 16 and the placement tool 51 are not parallel. A landing detection sensor 32 is provided. Therefore, you may combine this sensor 32 and the sensors 32a and 32b shown to Fig.10 (a)-(c). Note that the distance Xb between the tip of the lower end surface 33 of the support 16 and the placement tool 51 is set in advance so as to be an appropriate distance when the support 16 is inserted.

(Embodiment 2)
Next, the support member 17 according to the second embodiment of the present invention will be described with reference to FIGS. 11 to 14.

  FIG. 11 is a diagram illustrating an example of a wheelchair used in the transfer assist device 1 according to the second embodiment of the present invention, and FIG. 12 is a diagram illustrating a structural example of the support member 17 according to the second embodiment of the present invention. FIG. 13 is a diagram for explaining the operation when the support 17 of the transfer assist device 1 according to the second embodiment of the present invention is used, and FIG. 14 shows the transfer assist device 1 according to the second embodiment of the present invention. It is a figure which shows the other example of a state of the support member 17 at the time of use. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  In the first embodiment, by detecting the displacement of the movable roller 26a (or the roller shaft core 26b) provided on the lower surface of the support 16 of the transfer assist device 1, the parallel state of the mounting surface and the support 16 and the copying are detected. Any one of the states was formed and maintained. In other words, the first embodiment is based on the premise that the support 16 is landed on the mounting tool 51 (FIG. 2) having a large width such as a bed.

  On the other hand, in the second embodiment, when placing a support on a placing tool 51 (FIG. 2) that is narrower than a bed or the like, for example, a wheelchair 53 as shown in FIG. The support 17 that can form and maintain any one of the parallel state and the copying state of the surface and the support 17 will be described. In addition, in the transfer assistance apparatus 1 in this Embodiment, it replaces with the support 16 and shall use the support 17. FIG.

  Details of the support 17 will be described below. First, a side view of the support member 17 is shown in FIG. This figure shows a state in which a part of the support member 17 is broken. As shown in FIG. 12A, the support member 17 includes a frame body 21 fixed to the main body of the support member 17 on the lower surface side of the support member 17, a movable frame 18 held by the frame body 21, and a movable member. A plurality of landing detection sensors 32c for detecting that the frame 18 is displaced in the normal direction of the lower surface of the support 17 are provided. The moving direction of the movable frame 18 only needs to have a component in the normal direction relative to the lower surface of the support member 17.

  Further, in the support member 17, a spring 19 as an elastic body is provided between the frame body 21 and the movable frame 18. The spring 19 biases the movable frame 18 toward the lower surface side in the normal direction of the lower surface of the support member 17. The movable frame 18 is disposed inside the frame body 21 and is displaced in the vertical direction according to the expansion and contraction of the spring 19.

  Next, FIG. 12B shows a bottom view of the support member 17. The opening of the frame body 21 is formed to have a size covering most of the lower surface of the support member 17, and the movable frame 18 is formed to have a size covering most of the opening of the frame body 21. As shown in FIG. 12B, the movable frame 18 holds a plurality of fixed rollers 26 arranged so as to be orthogonal to the insertion direction of the support 17. Further, as shown in FIG. 12A, the movable frame 18 rotatably holds each of the fixed rollers 26 constituting the roller row in a state of slightly projecting downward from the lower end surface 33. The rotation of the fixed roller 26 reduces the load when the support member 17 is inserted between the care receiver 2 and the placement surface of the placement device 51.

  Next, FIG. 12C shows a BB cross-sectional view (main part) in FIG. As shown in FIG. 12C, the movable frame 18 is held by the frame body 21 on the lower surface side of the support member 17, and is maintained so as to be displaceable in the normal direction with respect to the lower surface of the support member 17. Thereby, on the lower surface side of the support member 17, a part of the movable frame 18, for example, the fixed roller 26, or the lower surface of the frame (the front end portion, the central portion, the rear end portion, the placement surface and the point, line or surface) Can be brought into contact with the mounting surface 51 of the wheelchair 53.

  It should be noted that the structure shown in FIGS. 12A to 12C is not limited. For example, using a connecting member such as a wire, the movable frame 18 may be maintained displaceable in a state of being separated from the frame body 21 by a predetermined distance on the lower surface side of the supporter 17. A spring may be used instead of the wire. Further, a guide or a slide mechanism may be provided on the lower surface side of the support 17 to support the movable frame 18 so as to move directly. If the movable frame 18 can be displaced in the normal direction of the lower surface of the support member 17, it can be brought into contact with the landing detection sensor 32 c by the displacement of the movable frame 18, so that the landing detection sensor 32 c is operated. Can do.

  The springs 19 are disposed near the four corners of the movable frame 18. As the spring 19, for example, a known compression coil spring, leaf spring, disc spring or the like can be used. Thus, the movable frame 18 is urged by the spring 19 toward the lower surface side in the normal direction of the lower surface of the support member 17, so that the movable frame 18 is displaced toward the frame body 21 due to the inclination, vibration, and disturbance of the support member 17. Can be suppressed, and erroneous detection of the landing detection sensor 32c can be prevented. In addition, arrangement | positioning of the spring 19 is not limited to four places.

  A plurality of landing detection sensors 32c are provided between the frame body 21 and the movable frame 18 in a state of being separated from each other. Each sensor 32 c is fixed to the frame body 21. Thereby, when the movable frame 18 is displaced and comes into contact with the landing detection sensor 32c, the landing detection sensor 32c is operated by the contact pressure. As the landing detection sensor 32c, the same sensor as the landing detection sensor 32a can be used. Further, in the arrangement example shown in FIG. 12B, four landing detection sensors 32 c are arranged near the four corners of the movable frame 18. That is, the landing detection sensors 32c are arranged in the X-axis direction and the Y-axis direction. By attaching the landing detection sensor 32c to the frame 21 on the main body side, wiring to the landing detection sensor 32c becomes easy. Further, it is not necessary to perform wiring from the frame body 21 side to the movable frame 18 side, and the wiring can be performed while being fixed to the frame body 21 side, so that reliability can be improved.

  With such a configuration, when one of the fixed rollers 26 in the roller row comes into contact with the mounting tool 51 or when a part of the movable frame 18 comes into contact with the mounting tool 51, the normal line of the lower surface of the support tool 17. The movable frame 18 is displaced in the direction, and any one of the landing detection sensors 32c fixed to the frame body 21 is brought into contact with a part of the movable frame 18, whereby any one of the landing detection sensors 32c is operated. Thereby, it can be detected that the lower surface of the support 17 has landed on the mounting tool 51. Thus, in the support 17 of the transfer assist device 1, even when a part of the movable frame 18 and the placement surface 51 of the wheelchair 53 are in contact with each other, the movable frame 18 is displaced to reach the landing. Since the detection sensor 32c can be brought into contact with the detection sensor 32c, it is possible to detect landing on a mounting tool having a mounting surface with a small area.

  Further, the movable frame 18 is provided with a protrusion 30 in the vicinity of the front end portion that is the front side of the support member 17. Since the protrusion 30 does not need to hold the fixed roller 26, the shape of the protrusion 30 can be reduced. Therefore, the protrusion 30 can be processed so as to become thinner from the movable frame 18 closer to the vicinity of the tip of the support member 17. One end of the protrusion 30 is coupled to the movable frame 18, and the other end extends to the vicinity of the tip of the support 17. Note that the protrusion 30 and the movable frame 18 may be integrally molded.

  Thereby, it is possible to detect that the movable frame 18 has landed on the mounting tool 51 even in the vicinity of the distal end portion of the support tool 17. Moreover, since the protrusion 30 is formed in a shape that becomes thinner as it approaches the vicinity of the distal end portion of the supporter 17, the entire distal end portion in the insertion direction of the supporter 17 can be made thinner, and the supporter 17 is placed on the care receiver 2. The insertion work at the time of inserting between the mounting surface of the mounting tool 51 is made easy.

  Next, an operation when the support member 17 is used in the transfer assist device 1 will be described with reference to FIGS.

  As illustrated in FIG. 13A, the transfer support device 1 is placed in front of the care receiver 2 in order to insert the support member 17 between the care receiver 2 and the placement surface of the placement tool 51. The support 17 is lowered to the end of the placement tool 51. At this time, in the transfer assist device 1, the tip of the support member 17 is lowered to the end of the placement tool 51 and to a position where contact with the care receiver 2 can be avoided. Even in such a case, since the transfer support device 1 is provided with the protrusion 30 in the vicinity of the distal end portion of the support member 17, the protrusion 30 and the placement surface 51 can be brought into contact with each other. The movable frame 18 is displaced in the normal direction of the lower surface of the support 17 as the projection 30 and the mounting surface 51 come into contact with each other, and the landing detection is performed by the contact between the movable frame 18 and the landing detection sensor 32c. The sensor 32c is activated. Thereby, in the transfer assistance apparatus 1, since it can detect that the support tool 17 landed on the mounting surface of the mounting tool 51, either the parallel state of a mounting surface and the support tool 17, and a copying state are either A state can be created and maintained.

  Next, as illustrated in FIG. 13B, the transfer support device 1 inserts the support 17 between the care receiver 2 and the placement surface of the placement tool 51. Then, as shown in FIG. 13 (c), the transfer assist device 1 makes both the front end portion and the rear end portion of the movable frame 18 come into contact with the placement surface at the time of insertion, and supports the inclination and the support of the placement surface. It can be maintained such that the inclination of the tool 17 is in a parallel state or a copying state.

  Next, when the insertion of the support member 17 is completed, the transfer assist device 1 scoops up the care receiver 2 to the support member 17 as shown in FIG.

  Next, as shown in FIG. 13E, the transfer support device 1 lowers the support 17 in order to transfer the cared person 2 to a wheelchair 53 having a width smaller than that of a bed, for example. The support 17 is placed on the wheelchair 53. At this time, even if the length Lb of the place where the landing detection sensor 32c is arranged in the support 17 is larger than the width La (FIG. 11) of the wheelchair 53 (Lb> La), The movable frame 18 is displaced by contact between a part (central portion) of the movable frame 18 and the wheelchair 53. Then, when the movable frame 18 comes into contact with at least one of the landing detection sensors 32c fixed to the frame body 21 near the four corners of the movable frame 18, the landing detection sensor 32c operates, and the lower surface of the support 17 is It detects that the user has landed on the wheelchair 53. Therefore, even when the care receiver 2 is transferred to a wheelchair 53 or the like that is narrower than a bed or the like, it is possible to detect that the lower surface of the support member 17 has landed on the wheelchair 53.

  Thus, in a series of transfer operations in the transfer support device 1, as shown in FIG. 13A, the transfer support device 1 first lowers the support member 17 to the end of the mounting device 51, and the cared person 2 It is necessary to insert the supporter 17 between the supporter 17 and the mounting surface of the mounting tool 51 to scoop up the cared person 2 and to move the cared person 2 to the transfer position with the supporter 17 being moved. And as shown in FIG.13 (e), when moving to the wheelchair 53, the cared person 2 is moved to the center position of the wheelchair 53, and after mounting the support member 17, it is mounted with the cared person 2 It is necessary to pull out the support 17 from between the tools 51. In this transfer assist device 1, the inclination of the support member 17 can be adjusted with respect to the inclination of the placement surface, and the landing is also detected at the front end portion and the center portion of the support member 17. The shape can also be accommodated.

  Further, the landing detection sensors 32 c are respectively fixed to the frame body 21 near the four corners of the movable frame 18. And in the transfer assistance apparatus 1, since the inclination of the support member 17 is adjusted with respect to the inclination of the mounting surface in the X-axis direction and the Y-axis direction based on the output of the landing detection sensor 32c, the support member 17 is to be cared for. It can be smoothly inserted into the back surface of the cared person 2 along the surface of the mounting tool 51 without abutting on the body side of the person 2.

  As described above, according to the transfer assist device 1 according to the second embodiment of the present invention, even when the care receiver 2 is transferred to a wheelchair 53 or the like that is narrower than a bed or the like, 17, a part of the movable frame 18, for example, the protrusion 30, the fixed roller 26, or the lower surface of the frame (can be contacted by a point, a line, or a surface at any one of the front end, the center, and the rear end The partial area) and the mounting surface of the wheelchair 53 can be brought into contact with each other. Thereby, in the transfer assistance device 1, even when the support 17 is lowered to the wheelchair 53 that is narrower than a bed or the like, the movable frame 18 is displaced in the normal direction of the lower surface of the support 17, so that Since the landing detection sensor 32 is activated by the contact between the movable frame 18 and the landing detection sensor 32, it is possible to detect that the lower surface of the support member 17 has landed on the mounting surface of the wheelchair 53. Either a parallel state with the support member 17 or a copying state can be formed and maintained.

  Further, as shown in FIG. 14A, in the transfer assist device 1, the front end portion of the support member 17 is landed on the placement surface of the placement device 51, but the rear portion of the support member 17 is lifted. In the case of the posture, the position of the front end of the movable frame 18 is displaced in the normal direction of the lower surface of the support member 17 and the landing detection sensor 32c in the vicinity of the front end is operated, while the rear end of the movable frame 18 is operated. The position is not displaced, and the landing detection sensor 32c near the rear end does not operate. Thereby, based on the detection status of the four landing detection sensors 32c arranged at the positions corresponding to the four corners of the movable frame 18, the inclination posture of the lower surface of the support member 17 as shown in FIG. Can do.

  For safety, for example, when a relief mechanism is provided at the connecting portion between the support member 17 and the arm portion 12 so that the cared person 2 is not crushed by the lowering of the support member 17, the support member 17 is shown in FIG. The posture may be as shown in (b). That is, the transfer assist device 1 may take a posture in which the rear portion of the support member 17 is landed while the front end portion of the support member 17 is not landed on the placement surface of the placement device 51. is there. In this case, since the position of the rear end portion of the movable frame 18 is displaced in the normal direction of the lower surface of the support member 17, the landing detection sensor 32c in the vicinity of the rear end portion of the support member 17 operates. However, since the position of the tip of the movable frame 18 is not displaced, the landing detection sensor 32c in the vicinity of the tip of the support 17 does not operate. Thereby, the transfer assistance apparatus 1 can detect the attitude | position of the lower surface of the support member 17 as shown in FIG.14 (b) based on the detection condition of the four landing detection sensors 32c. Since the transfer support device 1 includes a control for stopping the insertion operation when the posture of the lower surface of the support member 17 is detected, an operation of pushing the support member 17 against the body side of the care receiver 2 is performed. Can be prevented.

  The example in which the plurality of fixed rollers 26 are used as the movable guide member of the movable frame 18 has been described. However, instead of the plurality of fixed rollers 26, a planar board having a small friction coefficient (for example, a low friction resin material). The movable frame 18 may be provided with a board or the like molded in step 1). By attaching the lower surface of the board to the movable frame 18 so as to slightly protrude from the lower end surface 33 (FIG. 11A), the support member 17 can be attached to the care receiver 2 and the placement device 51 in the same manner as the fixed roller 26. It is possible to reduce the load when inserting between the mounting surface. Further, in the case of the board, since the gap between the fixed rollers 26 as in the case of the fixed roller 26 can be eliminated, it is possible to detect the landing anywhere on the lower surface of the support member 17. Thereby, for example, even if there is a protrusion on the placement surface of the wheelchair 53, for example, a lever for adjusting the inclination of the placement surface of the wheelchair 53, the lower surface of the support member 17 has landed on the placement device 51. Can be detected.

  Further, even if the movable frame 18 and the board are integrally molded, the landing can be detected anywhere on the lower surface of the support member 17, and the above-described effects can be obtained.

(Embodiment 3)
Next, the transfer support device 9 according to the third embodiment of the present invention will be described with reference to FIG. FIG. 15 is a perspective view showing a basic configuration of transfer assisting device 9 according to Embodiment 3 of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  In the transfer support device 1 according to the first embodiment, the care receiver 2 placed on the placement tool 51 by one support tool 16 is supported between the placement tool 51 and the care receiver 2. The example in which 16 is inserted and the cared person 2 is scooped up on the scooping surface of the support 16 and transferred to another mounting tool has been described. In the first embodiment, the support 16 is placed in accordance with the inclination of one placement surface of the placement tool 51, and the support 16 is inserted between the placement tool 51 and the care receiver 2.

  On the other hand, the transfer assist device 9 according to the third embodiment includes a plurality of supporters 16 and a plurality of rotating means (a plurality of joint portions 13 and 15 respectively) corresponding to the respective supporters 16. And a plurality of lifting means (leg portions 8). Thereby, even if it is the mounting tool 51 of the complicated shape which has two or more inclinations of a mounting surface, the transfer assistance apparatus 9 which can change the attitude | position of each support 16 is implement | achieved.

  As shown in FIG. 15, the transfer support device 9 includes two supporters 16, two joint parts 13 for supporting each supporter 16 in a posture, two arm parts 12, and two joint parts. 15, two legs 8, two holding parts 11 for holding the two legs 8, one control part 110, and two input parts 14.

  As in FIG. 1, the caregiver 3 stands between the two supports 16 and operates the input unit 14 with both hands to move the transfer support device 9, move each support 16, and the care receiver 2. Various inputs are performed to perform lifting operations.

  The control unit 110 controls the inclination of each of the two support tools 16 with respect to the mounting tool 51 (for example, the mounting parts 51 a and 51 b) having different mounting surfaces in accordance with an operation instruction from the input unit 14. Then, the inclination of each support 16 is made to follow each placement surface. In addition, the control unit 110 can control the other support 16 so that it moves in conjunction with one of the support 16 when operated by an instruction from the one input unit 14. For example, after inserting the support 16 between the mounting tool 51 and the cared person 2 and scooping up the cared person 2, the control unit 110 interlocks the two supports 16 and supports both of them. Control is performed so that the spacing between the tools 16 is kept constant. Thereby, the transfer assistance apparatus 9 can transfer the cared person 2 safely in the state which laid down on the supporter 16. FIG. The control for interlocking the two support members 16 may be executed when the support member 16 is inserted or withdrawn, or only when the care receiver 2 is supported by the two support members 16. It may be. For example, when both supporters 16 are interlocked after inserting the supporter 16 between the care receiver 2 and the placement surface, a flag is set when it is detected that each of the supporters 16 has been inserted. It is possible to shift to the lifting mode, and in this lifting mode, control for interlocking the two supporters 16 can be performed.

  The holding unit 11 is integrated by connecting the two holding units 6 with the connecting unit 10. In addition, the connection part 10 may be configured to be able to expand and contract so that the interval between the two supporters 16 can be changed. Thereby, control of space posture, such as each position and angle of the support 16, can be performed with high functionality, and operability can be improved. Thereby, according to the cared person's 2 body condition, the support 16 is supported on appropriate conditions, such as a head and a foot, individually, and the effect at the time of transfer is exhibited.

  As described above, in the transfer assist device 9 according to the third embodiment of the present invention, a plurality of support members are provided for the mounting device 51 having a plurality of mounting surfaces with different inclinations, such as a bed having a reclining function. 16 can be dealt with by adjusting the inclination of the support 16 respectively, so that various and advanced correspondence effects can be exhibited. For example, even the mounting tool 51 having two mounting surfaces with different inclinations can be handled. In addition, since each support 16 is supported using the integrated holding portion 11 as a base, the strength against deformation of the apparatus can be increased. Thereby, the space | interval of each support 16 can be maintained with a sufficient precision.

  In addition, in the transfer assistance apparatus 9, the two support tools 16 were provided and the care receiver 2 was scooped up, and the example transferred to a sleeping state was demonstrated. However, the number of supporters 16 in the transfer support device 9 is not limited to two. The number of supports 16 can be increased in accordance with the shape of the placement surface of the placement tool 51. Thereby, each support 16 can be matched with the shape of the complicated mounting surface of the mounting tool 51. When increasing the support 16, the rotation means (joint portions 13, 15) and the lifting means (leg 8) that freely support the support 16 may be increased together.

  Further, in the transfer support device 9, the case where the support 16 described in the first embodiment is used has been described. However, the support 17 described in the second embodiment may be used instead of the support 16. Good.

(Embodiment 4)
Next, an application example relating to the support 16 of the transfer assist device 1 according to the fourth embodiment of the present invention will be described with reference to FIGS.

  FIGS. 16A and 16B are diagrams for explaining an application example related to the structure of the support 16 of the transfer assist device 1 according to the fourth embodiment of the present invention, and FIG. It is a figure which shows the state of the support 16 before landing at the time of use of FIG. 16, FIG.16 (b) is a figure which shows the landing state of the support 16 after landing at the time of use of the transfer assistance apparatus 1. FIG. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  As shown in FIG. 16A, the support 16 is connected to a joint 15 for rotating the support 16 around the Y axis, and the arm 12 is connected to the joint 15. Yes. The arm portion 12 constitutes one link of a parallel link mechanism coupled to the joint portion 15. For this reason, the support 16 is kept horizontal in a state where the support 16 is not landed on the placement surface of the placement tool 51.

  The joint portion 15 includes a relief mechanism (not shown) for allowing the support 16 to freely rotate in a direction in which the angle θ0 decreases, and a rotating portion that rotates about an axis about the Y axis. And an angle detection sensor 73 for detecting an angle θ0 formed by the support 16 and the arm portion 12.

  As the angle detection sensor 73, a known encoder can be used. For example, a rotary potentiometer or a rotary differential transformer can be used.

  First, in the transfer assist device 1, the angle detection sensor 73 detects the angle θ 0 formed by the support 16 and the arm unit 12 when the support 16 is in a state before landing on the mounting surface of the mounting tool 51. Then, the detected angle θ0 is stored in a storage unit (not shown) of the control unit 110.

  Next, in the transfer assist device 1, when the caregiver 3 lowers the support 16 downward in the Z-axis direction (in the direction of arrow a), as shown in FIG. Is detected by the angle detection sensor 73 that the angle between the support 16 and the arm portion 12 has changed to an angle θ1 slightly smaller than the angle θ0. .

  Accordingly, the transfer assist device 1 can compare the angle information of the angle θ0 stored in the storage unit with the angle information of the angle θ1, and can determine the state of the angle θ0 <the angle θ1. Can be detected to have landed on the placement surface of the placement tool 51.

  As described above, according to the transfer assist device 1 according to the fourth embodiment of the present invention, the angle detection sensor 73 detects a change in the angle between the support 16 and the arm unit 12, and the change in the angle is detected. Since it can be detected that the support 16 has landed on the placement surface of the placement tool 51, the same effect as the landing detection sensor 32 can be exhibited. Therefore, when the placement surface of the placement tool 51 is flat without tilting in the X-axis direction, such as a bed, the transfer detection device 1 uses the angle detection sensor 73 instead of the landing detection sensor 32. be able to. Although not described, the transfer assist device 1 is provided with joint portions 13 capable of rotating the support 16 around the X axis, and landing detection sensors on both side surfaces of the support 16, respectively. 32a and 32b may be provided. In this case, the inclination of the support 16 in the Y-axis direction can be controlled based on the detection results of the sensors 32a and 32b.

(Embodiment 5)
Next, the support 16 of the transfer assist device 1 according to the fifth embodiment of the present invention will be described with reference to FIGS. 17 (a) (b) and 18 (a) (b).

  In the fifth embodiment, when the inclination of the placement surface of the placement tool 51 such as a bed is tilted not only in the Y-axis direction but also in the X-axis direction, an automatic alignment function that matches the tilt of the support 16 explain.

  FIGS. 17 (a), (b) and FIGS. 18 (a), (b) are diagrams for explaining another application example regarding the structure of the support 16 of the transfer assist device 1 according to the fifth embodiment of the present invention. FIG. 17 (a) is a side view of the structure of the support 16, and FIG. 17 (b) is an enlarged cross-sectional view taken along the line CC in FIG. 17 (a). FIG. 18 is a front view showing the positional relationship between the support 16 and the placement tool 51, and FIG. 18B is a side view when the support 16 comes into contact with the placement tool 51. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  First, a structure for connecting the support 16 to the arm portion 12 will be described. As shown in FIGS. 17A and 17B, the support 16 is connected to the arm portion 12 via the joint portion 13 and the joint portion 15. The joint portion 13 includes a clutch portion 81 such as an electromagnetic clutch.

  The joint portions 13 and 15 are provided with drive motors 82 corresponding to the respective axes in order to rotate the support 16 about axes around the X axis and the Y axis. In the drive motor 82, the one that rotates the joint portion 13 around the X axis is referred to as a drive motor 82a, and the one that rotates the joint portion 15 around the Y axis is referred to as a drive motor 82b. The drive motor 82 (82a, 82b) may have a speed reducer that reduces the rotational speed and enhances the torque.

  The clutch portion 81 includes a drive shaft portion 81a and a driven shaft portion 81b. The drive shaft portion 81a has two spring hook portions 84 protruding on both sides in the Y-axis direction. Further, the support 16 is provided with two spring hooks 85 protruding on both sides in the X-axis direction on the side surface on the joint part 13 side, and between the two spring hooks 84 and 85 on the same side, respectively. A tension spring 86 is provided. The two tension springs 86 automatically align to maintain the inclination of the support 16 at the rotation position fixed by the drive motor 82a when the support 16 rotates about the axis about the X axis. have. The tension spring 86 may be an elastic body such as rubber or a spring.

  When the clutch part 81 is OFF (non-operation), the support 16 is separated from the drive motor 82a. As a result, the support 16 can freely rotate around the axis about the X axis, and resists the biasing force of the two tension springs 86 provided on both sides of the clutch portion 81 from the drive motor 82a. Rotate. Accordingly, the inclination of the support 16 is maintained within a predetermined rotation range around the inclination of the support 16 at the rotation position fixed by the drive motor 82a.

  On the other hand, when the clutch portion 81 is ON (actuated), the support 16 is fixed to the joint portion 13 and rotates around the axis of the X axis with the rotation of the drive motor 82a. For example, the transfer assist device 1 causes the joint drive unit 114 to rotate the support 16 around the axis about the X axis using the drive motor 82a.

  Next, an operation when adjusting the inclination of the support 16 will be described. As shown in FIG. 18A, when the support 16 is placed on the mounting surface of the mounting tool 51, the clutch unit 81 is turned off while the support 16 is separated from the mounting tool 51. (Deactivate). At this time, the posture of the support 16 is maintained by the two tension springs 86. Next, when the end E of the support 16 contacts the mounting surface of the mounting tool 51 in the width direction of the support 16, the support 16 rotates about the X axis against the urging force of the tension spring 86. Move. Further, when the support 16 is lowered in the lower direction of the Z-axis, the support 16 is rotated in the direction of arrow D and becomes parallel to the mounting surface of the mounting tool 51. In this state, the inclination of the support 16 can be fixed by turning on (actuating) the clutch portion 81.

  Next, as shown in FIG. 18B, the caregiver 3 indicates the instruction information when there is a difference in inclination between the placement surface of the placement tool 51 and the lower surface of the support member 16 in the X-axis direction. Is input to the input unit 14, the landing detection sensors 32a and 32b are operated, the drive motor 82b is driven, and the support 16 is rotated around the Y axis.

  As described above, in the transfer assist device 1 according to the fifth embodiment of the present invention, the clutch portion 81 is turned off and the support 16 is disconnected from the drive motor 82a, whereby the support 16 is pivoted about the X axis. Therefore, the support 16 can be made to follow the mounting surface of the mounting tool 51 smoothly. Furthermore, the tilt of the support 16 can be fixed by turning on the clutch portion 81 in a state where the lower surface of the support 16 is parallel to the mounting surface of the mounting tool 51. When there is a difference in inclination between the placement surface of the placement tool 51 and the lower surface of the support 16 in the X-axis direction, the instruction information is input to the input unit 14 and the landing detection sensors 32a and 32b are turned on. By actuating, the drive motor 82b is driven, and the inclination of the support 16 can be adjusted around the Y axis. Thereby, when the inclination of the mounting surface of the mounting tool 51 such as a bed is tilted not only in the Y-axis direction but also in the X-axis direction, the tilt of the support 16 can be adjusted.

  Furthermore, the movement of the support 16 is braked by the tension spring 86 and the clutch portion 81, and the inclination of the support 16 is adjusted according to the body shape and posture of the care recipient 2, so that the caregiver 3 can perform the transfer work. Can be done smoothly.

(Embodiment 6)
Next, the support 16 of the transfer assist device 1 according to the sixth embodiment of the present invention will be described with reference to FIG.

  Embodiment 6 demonstrates the example which maintains the inclination of the support 16 using a drive motor.

  FIG. 19 is a side view for explaining still another application example related to the structure of the support 16 of the transfer assist device 1 according to the sixth embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  As shown in FIG. 19, the joint portion 13 and the joint portion 15 that hold the support 16 include a drive motor 82 and a rotation angle detection unit 87, and the control unit 110 includes a posture control unit 88.

  In the rotation angle detection unit 87, one that detects rotation around the X axis is referred to as a rotation angle detection unit 87a, and one that detects rotation around the Y axis is referred to as a rotation angle detection unit 87b.

  The attitude control unit 88 is a part of the control unit 110 and operates according to instruction information from the input unit 14. When instruction information such as “inclination maintaining mode” is input from the input unit 14, the posture control unit 88 moves the joint units 13 and 15 to the X axis based on information from the rotation angle detection unit 87 (87 a and 87 b). In addition, the drive motors 82a and 82b are operated to rotate around the axis around the Y axis, and the inclination of the support 16 is controlled.

  In addition, when maintaining the inclination of the supporter 16, the supporter 16 may be controlled to be variable within a set allowable range. For example, the input unit 14 may be provided with a plurality of setting modes such as “mode A” in which the tilt variation allowable range of the support 16 is large and “mode B” in which the tilt variation allowable range of the support 16 is small. Moreover, you may adjust the driving force when controlling the inclination variation allowable range of the supporter 16 and the inclination of the supporter 16 stepwise or continuously using a slide type input device.

  As described above, according to the transfer assist device 1 according to the sixth embodiment of the present invention, the orientation control unit 88 causes the input unit 14 to specify instruction information such as the “tilt maintenance mode” and the rotation angle detection unit 87 (87a, 87a, 87b), the drive motors 82a and 82b are operated to rotate the joints 13 and 15 about the X and Y axes, so that the inclination of the support 16 is maintained. be able to.

  In addition, the input unit 14 includes “mode A” in which the allowable fluctuation range of the inclination of the support 16 is large and “mode B” in which the allowable fluctuation range of the inclination of the support 16 is small. The inclination of the support 16 can be controlled so that the allowable range is different.

  In addition, by using a slide-type input device, it is possible to adjust the driving force for controlling the tilt variation allowable range of the supporter 16 and the tilt of the supporter 16 step by step or continuously. Fine control over the posture of the cared person 2 is possible, and an automatic alignment function that is kind to the cared person 2 can be realized.

(Embodiment 7)
Next, with reference to FIG. 20, another method for detecting landing will be described in the transfer assist device 1 according to the seventh embodiment of the present invention. Specifically, a method example of detecting landing using a plurality of load sensors will be described.

  FIG. 20 is a front view showing a structural example of the wheel 5 of the transfer assisting device 1 according to the seventh embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted.

  As shown in FIG. 20, the wheel 5 includes a roller 101, a roller shaft 102, a housing 103, and a load sensor 104. A plurality of wheels 5 are provided, and each wheel 5 is fixedly or rotatably attached to a holding portion 6 (see, for example, FIG. 3). The load sensor 104 is attached to the housing 103. A driving source 105 is connected to the wheel 5 via a speed reducer so that the wheel 5 can run on its own.

  The control unit 110 includes a calculation unit 106 that calculates the position of the center of gravity of the transfer assist device 1 and a storage unit 107 that stores the calculation result.

  The computing unit 106 calculates the center of gravity position of the transfer assist device 1 based on output signals from the plurality of load sensors 104 at predetermined time intervals, and sequentially stores the computation results in the storage unit 107. Then, the calculation unit 106 calculates a difference value between a plurality of calculation results stored in the storage unit 107, and detects that the support 16 has landed on the mounting surface of the mounting tool 51 from the difference value. That is, the load sensor 104 functions as landing detection means.

  As described above, according to the transfer assist device 1 in the seventh embodiment of the present invention, the change in the center of gravity position of the transfer assist device 1 during operation is detected based on the output signals from the plurality of load sensors 104. From this change, it can be detected that the support 16 has landed on the placement surface of the placement tool 51. Furthermore, since the position of the center of gravity of the transfer assist device 1 can be detected and the center of gravity posture can be grasped during operation, and a dangerous posture can be prevented in advance, the safety of the transfer assist device 1 can be improved. It becomes possible.

(Embodiment 8)
Next, an application example when the display unit 111 is provided in the transfer assist device 1 according to the eighth embodiment of the present invention will be described with reference to FIG.

  FIG. 21 is an explanatory diagram for describing a configuration example of the display unit 111 of the transfer assist device 1 according to the eighth embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the function same as the transfer assistance apparatus 1 in Embodiment 1, and the description is abbreviate | omitted. Here, a configuration example of the display unit 111 when two transfer assist devices 1 are used and a transfer operation is performed in cooperation with each other is shown.

  As shown in FIG. 21, in the display unit 111, the placement position 113 of the roller 101, the gravity center position G of the transfer assist device 1 and the support 16 are placed on the placement surface of the placement tool 51. The center of gravity position G1 is projected and displayed. In addition, as the gravity center position G and the gravity center position G1, those calculated in the seventh embodiment can be used. The display unit 111 displays outer frames F1 and F2 indicating the positions of the two supporters 16, respectively.

  As the display unit 111, for example, a display device using a liquid crystal display unit, an organic EL (electroluminescence) display, or the like can be used. As a result, when the caregiver 3 places the support 16 on the placement surface of the placement tool 51, the caregiver 3 supports the change from the change in the positional relationship between the center of gravity position G and the center of gravity position G1 displayed on the display unit 111. It can be known that the tool 16 has landed on the placement surface of the placement tool 51. In addition, what is necessary is just to provide the display part 111 in either one of the two transfer assistance apparatuses 1. FIG.

  Further, when the center of gravity position G1 is in the landing confirmation frame (E1, E2), it indicates that the support 16 is landing on the placement surface of the placement tool 51 with an appropriate pressure. Here, the landing confirmation frame E <b> 1 is used when there is one support 16 that lands on the placement surface of the placement tool 51, and the landing confirmation frame E <b> 2 is used when there are two supports 16. Further, the outside of the landing confirmation frames (E1, E2) displayed on the display unit 111 is a dangerous posture area such as the transfer assist device 1 falling, and the inside thereof is a safe posture region.

  As described above, according to the transfer assist device 1 according to the eighth embodiment of the present invention, the caregiver 3 is supported by the change in the positional relationship between the gravity center position G and the gravity center position G1 displayed on the display unit 111. It can be known that the tool 16 has landed on the placement surface of the placement tool 51.

  Moreover, since the caregiver 3 can easily grasp whether or not the transfer support device 1 is in a safe posture state from the display positions of the center of gravity G and G1 displayed on the display unit 111, transfer support A dangerous posture state such as the device 1 falling can be avoided, and the safety of the transfer assist device 1 can be improved.

  In addition, on the outer frames F1 and F2 indicating the position of the supporter 16, a notification unit display 112 for displaying the operation state of the landing detection sensor 32 is provided on the coordinates according to the arrangement position of the landing detection sensor 32. May be.

  As described above, in the transfer support device 1 and the transfer support device 9 according to the embodiment of the present invention, the case where the care giver 3 transfers the care receiver 2 is described. However, if the care receiver 2 is a human body, Well, for example, it can be similarly applied to those who have difficulty moving or moving themselves. Thereby, in the transfer assistance apparatus 1 and the transfer assistance apparatus 9, the human body can be scooped up from the mounting surface of a mounting tool, and can be transferred to another mounting tool.

In addition, a camera or the like can be provided in the transfer support device 1 so that the support members 16 and 17 can be recognized based on the image information, and the positions and postures of the support members 16 and 17 can be controlled.
[Outline of the embodiment]
Here, an outline of the present embodiment will be described below.

  (1) As explained above, even when the placing surface of the placing tool for placing the human body is not horizontal, such as when the bed surface is inclined, the support is provided between the human body and the placing surface. When inserting the tool, at least one of the rotating means and the lifting / lowering means is operated, and based on the outputs of the plurality of landing detection means, at least the parallel state and the copying state between the mounting surface and the support tool Either state can be formed and maintained. Therefore, the transfer support device of the present embodiment has an effect of automatically adjusting the position and angle of the support according to the inclination of the mounting surface of the mounting device on which the person is mounted during the transfer operation of the care recipient. Demonstrate. Thereby, the care giver can smoothly pick up the cared person from the placement tool and transfer it without being particularly aware of the positional relationship between the placement surface and the transfer support device.

  (2) Further, the plurality of landing detection means are provided on the lower surface of the support member, and are separated from each other in a direction orthogonal to the rotation axis of each rotation device, and the control means is supported by the lifting device. Any one of a plurality of landing detection means provided in a direction perpendicular to the rotation axis of the rotation means for each rotation means when When the landing on the placement surface is detected, the raising and lowering means is operated while rotating the turning means so as to maintain the height with respect to the placement surface of the landing detection means that has detected the landing, When two or more of the plurality of landing detection means detect the landing, the turning of the turning means is finished, and the descent of the lifting means is stopped when the turning of all the turning means is finished. You may make it do.

  According to such a configuration, the support can be landed in parallel to the placement surface and stopped by the plurality of landing detection means and the rotation means. Therefore, the inclination of the lower surface of the supporter can be made parallel to the mounting surface having different inclinations.

  (3) The transfer assist device further includes support insertion means for moving the support in the insertion direction, and the control means is used when the support is inserted between the human body and the placement surface by the support insertion means. When any of the plurality of landing detection means does not detect the landing, the lifting means is lowered and any of the plurality of landing detection means provided in the direction orthogonal to the rotation axis of each rotation means. If the output is larger than the set range, the rotation means is rotated in a direction away from the placement surface, and the output of any of the plurality of landing detection means is set within the set range. When it is smaller, the rotation detecting means is rotated in a direction in which the landing detection means having a small output comes in contact with the placement surface, and the output states of the plurality of landing detection means are maintained within the set range. Good.

  According to such a configuration, it is possible to maintain the output states of the plurality of landing detection means within the set range during the insertion operation of the support. Therefore, the supporter can be adjusted to a fixed contact state with the mounting surface during the supporter insertion operation.

  (4) In addition, each of the plurality of landing detection means may be configured by a pressure sensor, and the landing state may be determined based on whether or not the contact pressure with the placement surface is within a set pressure range. .

  According to such a structure, the landing state with respect to the mounting surface of a support can be determined based on the information of contact pressure. Thereby, a support pressure can be controlled and a support can be made to land on a mounting surface. Further, when the support tool is accidentally brought into contact with the placement surface, it is possible to prevent the transfer assist device from being overturned or damaged by the reaction force, the placement tool being damaged, or the like.

  (5) Further, the set pressure range may be a pressure range received by the human body on the placement surface at the support insertion site. According to such a configuration, at the insertion site of the support, by making the placement surface the same as the pressure range received by the human body, the sinking amount of the human body with respect to the placement surface and the sinking of the support at the insertion site The amount can be substantially the same. Thereby, the level | step difference by the difference in the sinking amount in the insertion site | part of a supporter can be suppressed, and a supporter can be inserted smoothly.

  (6) The movable guide member further includes a movable guide member configured to be displaceable in a normal direction of the lower surface of the support, and a plurality of landing detection means are provided on the lower surface of the support, and the movable guide member You may make it detect a landing state by detecting the displacement of this.

  In such a configuration, since the movable guide member is displaced according to the contact pressure between the mounting tool and the support tool, the support tool has landed on the upper surface of the mounting tool by the displacement of the movable guide member. Can be detected.

  (7) The movable guide member is a movable frame supported so as to be displaceable with respect to the frame of the support, and the movable frame is moved in a normal direction of the lower surface of the support by contact pressure with the mounting surface. It may be displaced. According to this, for example, when a part of the movable frame comes into contact with the placement surface, the movable frame is displaced in the normal direction of the lower surface of the support. Then, the landing detection means is activated by the contact between the movable frame and the placement surface. Therefore, since the landing detection can be performed with a relatively large area movement of the movable frame, when the care recipient is transferred to a wheelchair having a width smaller than that of the bed, the center portion of the lower surface of the support member is placed on the wheelchair. Even when it is lowered onto the mounting surface, the landing can be detected by the landing detection means.

  (8) Further, an elastic body that is disposed between the frame body and the movable frame and biases the movable frame downward may be provided. According to this, since the movable frame is urged from the frame body to the lower surface side in the normal direction of the lower surface of the supporter, it is possible to suppress the displacement of the movable frame due to the inclination, vibration, and disturbance of the supporter, It is possible to prevent erroneous detection of the landing detection means.

  (9) The plurality of landing detection means may be provided on the frame of the support. According to such a configuration, the landing detection can be performed in the peripheral portion of the support, and the detection accuracy regarding the posture of the support at the time of landing can be improved. Furthermore, since wiring can be performed on the frame body on the main body side, wiring is facilitated. In addition, it is not necessary to perform wiring from the frame body to the movable guide member, and wiring can be performed while being fixed to the frame body side, so that reliability can be improved.

  (10) Further, the plurality of landing detection means may be provided in the vicinity of at least both ends of the lower surface on the front side in the insertion direction of the support. According to such a configuration, it is possible to detect the landing state of the support member in the vicinity of both end portions of the front lower surface during insertion. Therefore, the detection of the posture of the supporter at the time of insertion can be performed at the tip part (front end part) of the supporter, and the effect of realizing smooth insertion and landing can be exhibited.

  (11) Further, the rotation means has a first rotation means that rotates around an axis in the insertion direction of the support, and a plurality of landing detection means are provided. Also good. According to such a configuration, it is possible to control the posture of the support by the one rotating means that rotates around the axis in the insertion direction of the support and the two landing detection means. Therefore, the effect of controlling the posture of the support can be exerted with respect to the two-dimensional inclination of the placement surface.

  (12) Further, the rotating means is rotated around an axis orthogonal to the first rotating means and the lower surface of the support in the first rotation means rotating around the axis in the insertion direction of the support. And at least three landing detection means may be provided. According to such a configuration, the posture of the supporter can be controlled by the two rotating means that rotate around the two axes orthogonal to the supporter and the three landing detection means. Therefore, it is possible to exert an effect on the posture control of the support with respect to the three-dimensional inclination of the placement surface.

  (13) The transfer assist device of the present invention is inserted between the placement surface of the placement tool and the human body placed on the placement surface, and the support tool that holds the human body and the spatial posture of the support tool are changed. And one or more rotating means provided to perform at least one of the adjustments, an landing detection means for detecting that the lower surface of the support has landed on the upper surface of the mounting surface, and the support And a control unit capable of controlling the lifting / lowering means based on the output of the landing detection means, wherein the landing detection means has a width direction orthogonal to the insertion direction of the support The transfer support device is provided in the vicinity of the center of the lower surface of the support member, and the transfer support device includes a clutch disposed between the support member and the rotation unit, and a relative position of the support member with respect to the rotation unit. And an elastic body that elastically supports the support so as to be rotatable. When lowering the support by the lifting means from above the placement surface, the support is lowered with the clutch released until the landing detection means detects landing on the placement surface, and the landing detection means The clutch and the elevating means are controlled so that the clutch is engaged and the lowering of the support member is finished when detecting the landing.

  According to such a configuration, when the support is raised and lowered, the rotation of the support is allowed in a range limited by the elastic body, the landing detection unit detects the landing of the support, and the clutch is detected at the landing position. When is connected, the support is fixed by the rotating means, and can stop rotating. Therefore, by providing only one landing detection means, the effect of controlling and maintaining the spatial posture of the support can be exhibited, and the number of landing detection means can be reduced. Further, the elastic body can restrict the support so that it does not move freely when the clutch is disengaged. Furthermore, the inclination of the supporter can be adjusted according to the body shape and posture of the care recipient.

  (14) In addition, a plurality of support members, and a plurality of rotation means and lifting means corresponding to each of the plurality of support members, the plurality of landing detection means, the lower surface of the plurality of support members Each of the control means detects landing on the placement surface of the placement tool, and the control means controls the rotation means or the lifting means based on the outputs of the plurality of landing detection means.

  According to such a configuration, it is possible to easily cope with the inclination of the placement surface of the placement tool by using a plurality of support tools, and it is possible to exhibit various and advanced correspondence effects. For example, even a mounting tool having a complicated shape with three or more inclinations of the mounting surface of the mounting tool can be handled.

  (15) Further, the transfer support device with a multi-support mechanism according to the present invention includes a plurality of any one of the transfer support devices described above and a control device that controls the plurality of transfer support devices in cooperation with each other, The support of each transfer assist device is made to follow an angle corresponding to the inclination angle of the mounting surface.

  According to such a configuration, even when the mounting tool has a plurality of mounting surfaces with different inclinations, it is possible to cope with the inclination of the mounting surface of the mounting tool using a plurality of support tools. it can. Therefore, it can respond to various mounting tools flexibly. For example, even a mounting tool having a complicated shape with three or more inclinations of the mounting surface of the mounting tool can be handled.

  (16) In addition, a plurality of transfer support devices may be connected and integrated by a connecting portion. Thereby, the cooperation of a plurality of transfer support devices can be further strengthened, and the strength against deformation of the device can be increased. Thereby, the space | interval of each support tool can be kept with a sufficient precision.

  As described above, according to the present embodiment, even when the mounting surface of the mounting tool for mounting the human body is not horizontal, the human body can be smoothly lifted and transferred from the mounting tool. It is possible to provide a transfer support device and a transfer support device with a multi-support mechanism that are possible and have a low work burden for the caregiver.

As described above, according to the present invention, a support tool is inserted between the placing tool on which the care receiver to be transferred and the care receiver are placed, and the scoop is moved up on the scooping surface of the support tool. In particular, even when the placement surface of the placement device on which the care recipient is placed is not horizontal, the caregiver can be scooped up and transferred smoothly from the placement device. be able to. Therefore, it is useful as a transfer support device, a transfer support device with a multi-support mechanism using the transfer support device, a care robot device, and the like.

Claims (16)

  1. A support that is inserted between the placement surface of the placement tool and the human body placed on the placement surface, and holds the human body;
    One or more rotating means for performing at least one of change and adjustment of the posture of the support;
    A plurality of landing detection means for detecting that the lower surface of the support has landed on the placement surface;
    Elevating means for elevating and lowering the support;
    Based on the outputs of the plurality of landing detection means, the rotating means or the rotation means or the like so as to form and maintain at least one of a parallel state and a copying state between the placement surface and the support member. And a control means for controlling the lifting means.
  2. The plurality of landing detection means are provided on the lower surface of the support member, spaced apart in a direction perpendicular to the rotation axis of each of the rotation means,
    When the control means lowers the supporter from above the placement surface to the placement surface by the lifting means,
    When any one of the plurality of landing detection means provided in the direction orthogonal to the rotation axis of the rotation means for each of the rotation means detects landing on the placement surface, Operating the elevating means while rotating the rotating means so as to maintain the height relative to the placement surface of the landing detecting means detecting the landing;
    When two or more of the plurality of landing detection means detect the landing, the turning of the turning means is terminated,
    2. The transfer assist device according to claim 1, wherein the descent of the elevating means is stopped when the rotation of all the rotating means is finished.
  3. The transfer assist device further includes support member insertion means for moving the support member in an insertion direction,
    The control means is configured to insert the support between the human body and the placement surface by the support insertion means.
    When none of the plurality of landing detection means detect the landing, the lifting means is lowered,
    When the output of any of the plurality of landing detection means provided in a direction orthogonal to the rotation axis of each of the rotation means is larger than a set range, the landing detection means having a large output is described above. Rotating the rotating means in a direction away from the surface,
    When the output of any of the plurality of landing detection means is smaller than the set range, the turning means is rotated in a direction in which the landing detection means having a small output abuts the placement surface,
    The transfer support device according to claim 1 or 2, wherein the output states of the plurality of landing detection means are maintained within a set range.
  4.   The plurality of landing detection means are each constituted by a pressure sensor, and the landing state is determined based on whether or not the contact pressure with the placement surface is within a set pressure range. The transfer assistance apparatus according to any one of claims 3 to 4.
  5.   The transfer support device according to claim 4, wherein the set pressure range is a pressure range that the placement surface receives by the human body at an insertion site of the supporter.
  6. A movable guide member configured to be displaceable in the normal direction of the lower surface of the support;
    The plurality of landing detection means are provided on a lower surface of the support and detect a landing state by detecting a displacement of the movable guide member. The transfer support device according to claim 1.
  7. The movable guide member is a movable frame supported to be displaceable with respect to the frame of the support,
    The transfer support device according to claim 6, wherein the movable frame is displaced in a normal direction of a lower surface of the support by contact pressure with the mounting surface.
  8.   The transfer support apparatus according to claim 7, further comprising an elastic body that is disposed between the frame body and the movable frame and biases the movable frame downward.
  9.   The transfer support device according to any one of claims 1 to 8, wherein the plurality of landing detection means are provided on a frame of the support.
  10.   The plurality of landing detection means are provided at least in the vicinity of both ends of the lower surface on the front side in the insertion direction of the supporter, according to any one of claims 1 to 9. Transfer support equipment.
  11.   The rotation means includes first rotation means that rotates around an axis in the insertion direction of the support, and at least two of the plurality of landing detection means are provided. The transfer support device according to any one of claims 1 to 9.
  12.   The rotating means rotates around an axis orthogonal to the first rotating means and the lower surface of the support in the first rotating means that rotates around an axis in the insertion direction of the support. 10. The transfer assist device according to claim 1, further comprising: a second rotation unit, wherein at least three of the plurality of landing detection units are provided.
  13. A support that is inserted between the placement surface of the placement tool and the human body placed on the placement surface, and holds the human body;
    One or more rotating means for performing at least one of change and adjustment of the posture of the support;
    Landing detection means for detecting that the lower surface of the support has landed on the upper surface of the placement surface;
    Elevating means for elevating and lowering the support;
    A transfer support device comprising control means capable of controlling the lifting means based on the output of the landing detection means,
    The landing detection means is provided in the vicinity of the center of the lower surface of the support in the width direction orthogonal to the insertion direction of the support,
    The transfer assist device elastically moves the support so that the support is rotatable relative to the clutch disposed between the support and the rotation means, and the rotation means. An elastic body to support,
    When the control means lowers the support by the lifting means from above the placement surface, the control means releases the clutch until the landing detection means detects landing on the placement surface. A support device is lowered, and when the landing detection means detects landing, the clutch is connected and the clutch and the lifting means are controlled so as to end the lowering of the support device. .
  14. A plurality of the support members, and a plurality of the rotating means and the lifting means corresponding to each of the plurality of support members,
    The plurality of landing detection means detect that the lower surfaces of the plurality of support members have respectively landed on the placement surface of the mounting device,
    The transfer support according to any one of claims 1 to 13, wherein the control means controls the turning means or the lifting means based on outputs of the plurality of landing detection means. machine.
  15. A plurality of transfer support devices according to any one of claims 1 to 14,
    A control device that controls a plurality of the transfer support devices in cooperation with each other;
    A transfer support device with a multi-support mechanism, wherein the support of each transfer support device is caused to follow an angle corresponding to an inclination angle of a mounting surface.
  16.   The transfer support device with a multi-support mechanism according to claim 15, wherein the transfer support device has a configuration in which a plurality of transfer support devices are connected and integrated by a connecting portion.
JP2009506213A 2007-03-28 2008-03-26 Transfer support device and transfer support device with multi-support mechanism Granted JPWO2008117538A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2007083718 2007-03-28
JP2007083718 2007-03-28
JP2007232328 2007-09-07
JP2007232328 2007-09-07
PCT/JP2008/000737 WO2008117538A1 (en) 2007-03-28 2008-03-26 Transfer assistance device and transfer assistance device with multi-supporter mechanism

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JP4687784B2 (en) * 2008-12-22 2011-05-25 トヨタ自動車株式会社 Transfer support apparatus and control method thereof
JP4692642B2 (en) 2009-01-22 2011-06-01 トヨタ自動車株式会社 Transfer support device
US8165718B2 (en) 2010-07-30 2012-04-24 Toyota Motor Engineering & Manufacturing North America, Inc. Robotic transportation devices and systems
US8499379B2 (en) * 2010-07-30 2013-08-06 Toyota Motor Engineering & Manufacturing North America, Inc. Robotic posture transfer assist devices and methods
AU2014266853A1 (en) * 2013-05-17 2016-01-21 Omni-Drive Holding Aps Method and apparatus for moving a hospital bed or another wheeled object
WO2016041599A1 (en) * 2014-09-18 2016-03-24 Ideassociates (Iom) Ltd A wheeled transportation device
CN104352308A (en) * 2014-10-28 2015-02-18 刘继明 Device capable of conveniently transporting critically-ill patient to have medical imaging examination
CN105496558B (en) * 2015-12-09 2018-03-30 哈尔滨工业大学 A kind of achievable space three-dimensional positioning and the five degree of freedom hybrid mechanism of two dimension orientation
CN109739132A (en) * 2016-03-15 2019-05-10 国家康复辅具研究中心 A kind of electric foldable bath bed

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JPH069589B2 (en) * 1985-10-03 1994-02-09 株式会社アマダ Transportation robot
JPH058061Y2 (en) * 1985-10-14 1993-03-01
JPH05259699A (en) * 1992-03-08 1993-10-08 Junji Onda Positioning confirming apparatus for platelike work
JP4509411B2 (en) * 2001-03-26 2010-07-21 株式会社ディスコ Loading / unloading device
JP2003291087A (en) * 2002-03-29 2003-10-14 Fujitsu Ltd Moving body and it contact sensing method

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US20100064431A1 (en) 2010-03-18

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